Project: Train a Quadcopter How to Fly

Design an agent to fly a quadcopter, and then train it using a reinforcement learning algorithm of your choice!

Try to apply the techniques you have learnt, but also feel free to come up with innovative ideas and test them.

Instructions

Take a look at the files in the directory to better understand the structure of the project.

• task.py: Define your task (environment) in this file.
• agents/: Folder containing reinforcement learning agents.
  • policy_search.py: A sample agent has been provided here.
  • agent.py: Develop your agent here.
• physics_sim.py: This file contains the simulator for the quadcopter. DO NOT MODIFY THIS FILE.

For this project, you will define your own task in task.py. Although we have provided a example task to get you started, you are encouraged to change it. Later in this notebook, you will learn more about how to amend this file.

You will also design a reinforcement learning agent in agent.py to complete your chosen task.

You are welcome to create any additional files to help you to organize your code. For instance, you may find it useful to define a model.py file defining any needed neural network architectures.

Controlling the Quadcopter

We provide a sample agent in the code cell below to show you how to use the sim to control the quadcopter. This agent is even simpler than the sample agent that you'll examine (in agents/policy_search.py) later in this notebook!

The agent controls the quadcopter by setting the revolutions per second on each of its four rotors. The provided agent in the Basic_Agent class below always selects a random action for each of the four rotors. These four speeds are returned by the act method as a list of four floating-point numbers.

For this project, the agent that you will implement in agents/agent.py will have a far more intelligent method for selecting actions!

import random

class Basic_Agent():
    def __init__(self, task):
        self.task = task
    
    def act(self):
        new_thrust = random.gauss(450., 25.)
        return [new_thrust + random.gauss(0., 1.) for x in range(4)]

Run the code cell below to have the agent select actions to control the quadcopter.

Feel free to change the provided values of runtime, init_pose, init_velocities, and init_angle_velocities below to change the starting conditions of the quadcopter.

The labels list below annotates statistics that are saved while running the simulation. All of this information is saved in a text file data.txt and stored in the dictionary results.

%load_ext autoreload
%autoreload 2

import csv
import numpy as np
from task import Task

# Modify the values below to give the quadcopter a different starting position.
runtime = 5.                                     # time limit of the episode
init_pose = np.array([0., 0., 10., 0., 0., 0.])  # initial pose
init_velocities = np.array([0., 0., 0.])         # initial velocities
init_angle_velocities = np.array([0., 0., 0.])   # initial angle velocities
file_output = 'data.txt'                         # file name for saved results

# Setup
task = Task(init_pose, init_velocities, init_angle_velocities, runtime)
agent = Basic_Agent(task)
done = False
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

# Run the simulation, and save the results.
with open(file_output, 'w') as csvfile:
    writer = csv.writer(csvfile)
    writer.writerow(labels)
    while True:
        rotor_speeds = agent.act()
        _, _, done = task.step(rotor_speeds)
        to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
        for ii in range(len(labels)):
            results[labels[ii]].append(to_write[ii])
        writer.writerow(to_write)
        if done:
            break

The autoreload extension is already loaded. To reload it, use:
  %reload_ext autoreload

Run the code cell below to visualize how the position of the quadcopter evolved during the simulation.

import matplotlib.pyplot as plt
%matplotlib inline

plt.plot(results['time'], results['x'], label='x')
plt.plot(results['time'], results['y'], label='y')
plt.plot(results['time'], results['z'], label='z')
plt.legend()
_ = plt.ylim()

The next code cell visualizes the velocity of the quadcopter.

plt.plot(results['time'], results['x_velocity'], label='x_hat')
plt.plot(results['time'], results['y_velocity'], label='y_hat')
plt.plot(results['time'], results['z_velocity'], label='z_hat')
plt.legend()
_ = plt.ylim()

Next, you can plot the Euler angles (the rotation of the quadcopter over the $x$-, $y$-, and $z$-axes),

plt.plot(results['time'], results['phi'], label='phi')
plt.plot(results['time'], results['theta'], label='theta')
plt.plot(results['time'], results['psi'], label='psi')
plt.legend()
_ = plt.ylim()

before plotting the velocities (in radians per second) corresponding to each of the Euler angles.

plt.plot(results['time'], results['phi_velocity'], label='phi_velocity')
plt.plot(results['time'], results['theta_velocity'], label='theta_velocity')
plt.plot(results['time'], results['psi_velocity'], label='psi_velocity')
plt.legend()
_ = plt.ylim()

Finally, you can use the code cell below to print the agent's choice of actions.

plt.plot(results['time'], results['rotor_speed1'], label='Rotor 1 revolutions / second')
plt.plot(results['time'], results['rotor_speed2'], label='Rotor 2 revolutions / second')
plt.plot(results['time'], results['rotor_speed3'], label='Rotor 3 revolutions / second')
plt.plot(results['time'], results['rotor_speed4'], label='Rotor 4 revolutions / second')
plt.legend()
_ = plt.ylim()

When specifying a task, you will derive the environment state from the simulator. Run the code cell below to print the values of the following variables at the end of the simulation:

• task.sim.pose (the position of the quadcopter in ($x,y,z$) dimensions and the Euler angles),
• task.sim.v (the velocity of the quadcopter in ($x,y,z$) dimensions), and
• task.sim.angular_v (radians/second for each of the three Euler angles).

# the pose, velocity, and angular velocity of the quadcopter at the end of the episode
print(task.sim.pose)
print(task.sim.v)
print(task.sim.angular_v)

[ 14.98721015  10.91533795  30.68139349   0.31262832   5.96958992   0.        ]
[ 7.74309528  6.08905919  3.86741314]
[ 0.10513975 -0.00377723  0.        ]

In the sample task in task.py, we use the 6-dimensional pose of the quadcopter to construct the state of the environment at each timestep. However, when amending the task for your purposes, you are welcome to expand the size of the state vector by including the velocity information. You can use any combination of the pose, velocity, and angular velocity - feel free to tinker here, and construct the state to suit your task.

The Task

A sample task has been provided for you in task.py. Open this file in a new window now.

The __init__() method is used to initialize several variables that are needed to specify the task.

• The simulator is initialized as an instance of the PhysicsSim class (from physics_sim.py).
• Inspired by the methodology in the original DDPG paper, we make use of action repeats. For each timestep of the agent, we step the simulation action_repeats timesteps. If you are not familiar with action repeats, please read the Results section in the DDPG paper.
• We set the number of elements in the state vector. For the sample task, we only work with the 6-dimensional pose information. To set the size of the state (state_size), we must take action repeats into account.
• The environment will always have a 4-dimensional action space, with one entry for each rotor (action_size=4). You can set the minimum (action_low) and maximum (action_high) values of each entry here.
• The sample task in this provided file is for the agent to reach a target position. We specify that target position as a variable.

The reset() method resets the simulator. The agent should call this method every time the episode ends. You can see an example of this in the code cell below.

The step() method is perhaps the most important. It accepts the agent's choice of action rotor_speeds, which is used to prepare the next state to pass on to the agent. Then, the reward is computed from get_reward(). The episode is considered done if the time limit has been exceeded, or the quadcopter has travelled outside of the bounds of the simulation.

In the next section, you will learn how to test the performance of an agent on this task.

The Agent

The sample agent given in agents/policy_search.py uses a very simplistic linear policy to directly compute the action vector as a dot product of the state vector and a matrix of weights. Then, it randomly perturbs the parameters by adding some Gaussian noise, to produce a different policy. Based on the average reward obtained in each episode (score), it keeps track of the best set of parameters found so far, how the score is changing, and accordingly tweaks a scaling factor to widen or tighten the noise.

Run the code cell below to see how the agent performs on the sample task.

## TODO: Train your agent here.
num_episodes = 1000
target_pos = np.array([0., 0., 10.])
task = Task(target_pos=target_pos)
agent = PolicySearch_Agent(task) 

for i_episode in range(1, num_episodes+1):
    state = agent.reset_episode() # start a new episode
    while True:
        action = agent.act(state) 
        next_state, reward, done = task.step(action)
        agent.step(reward, done)
        state = next_state
        if done:
            print("\rEpisode = {:4d}, score = {:7.3f} (best = {:7.3f}), noise_scale = {}".format(
                i_episode, agent.score, agent.best_score, agent.noise_scale), end="")  # [debug]
            break
    sys.stdout.flush()

Episode = 1000, score =  -0.176 (best =   0.032), noise_scale = 3.25

This agent should perform very poorly on this task. And that's where you come in!

Define the Task, Design the Agent, and Train Your Agent!

Amend task.py to specify a task of your choosing. If you're unsure what kind of task to specify, you may like to teach your quadcopter to takeoff, hover in place, land softly, or reach a target pose.

After specifying your task, use the sample agent in agents/policy_search.py as a template to define your own agent in agents/agent.py. You can borrow whatever you need from the sample agent, including ideas on how you might modularize your code (using helper methods like act(), learn(), reset_episode(), etc.).

Note that it is highly unlikely that the first agent and task that you specify will learn well. You will likely have to tweak various hyperparameters and the reward function for your task until you arrive at reasonably good behavior.

As you develop your agent, it's important to keep an eye on how it's performing. Use the code above as inspiration to build in a mechanism to log/save the total rewards obtained in each episode to file. If the episode rewards are gradually increasing, this is an indication that your agent is learning.

ATTEMPT 1

import sys
import pandas as pd
from agents.agent import DDPG
from task import Task

num_episodes = 500
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []

'''
USED THIS REWARD FUNCTION:
reward = -.3*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - .3*(abs(self.sim.v[:3] - self.target_vel)).sum()/( 1.*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
Uses original neural networks in Actor and Critic. Adjust later. 
'''
for i_episode in range(1, num_episodes+1):
    print("")
    print("i_episode: " + str(i_episode))
    print("")
    print("")
    state = agent.reset_episode() # start a new episode
    time = 0
    total_episode_reward = 0
    count = 0
    while True:
        print("")
        print("time: " + str(time))
        print("sim time: " + str(task.sim.time))
        
        action = agent.act(state) 
        next_state, reward, done = task.step(action)
        print("reward: " + str(reward))
        
        total_episode_reward += reward
        count += 1
        
        agent.step(action, reward, next_state, done)
        state = next_state
        if done:
            #print("\rEpisode = {:4d}, score = {:7.3f} (best = {:7.3f}), noise_scale = {}".format(
            #    i_episode, agent.score, agent.best_score, agent.noise_scale), end="")  # [debug]
            break
        time += 1
    avg_episode_rewards.append(total_episode_reward/count)
    print("avg_episode_reward: " + str(total_episode_reward/count))
    sys.stdout.flush()
    

i_episode: 1



time: 0
sim time: 0.0
reward: -45.0080541637

time: 1
sim time: 0.06
reward: -45.00597074

time: 2
sim time: 0.12000000000000001
reward: -45.0162074897

time: 3
sim time: 0.18
reward: -44.9918520719

time: 4
sim time: 0.23999999999999996
reward: -44.9561052681

time: 5
sim time: 0.3
reward: -44.9089445806

time: 6
sim time: 0.36000000000000004
reward: -44.7625785895

time: 7
sim time: 0.4200000000000001
reward: -44.5622101435

time: 8
sim time: 0.48000000000000015
reward: -44.3540694292

time: 9
sim time: 0.5400000000000001
reward: -44.1055356131

time: 10
sim time: 0.6000000000000002
reward: -43.7592614923

time: 11
sim time: 0.6600000000000003
reward: -43.325077452

time: 12
sim time: 0.7200000000000003
reward: -42.8931437558

time: 13
sim time: 0.7800000000000004
reward: -42.3854697385

time: 14
sim time: 0.8400000000000004
reward: -41.781180274

time: 15
sim time: 0.9000000000000005
reward: -41.064587669

time: 16
sim time: 0.9600000000000005
reward: -40.3627883386

time: 17
sim time: 1.0200000000000005
reward: -39.5641944504

time: 18
sim time: 1.0800000000000005
reward: -38.6679672971

time: 19
sim time: 1.1400000000000006
reward: -37.6559922757

time: 20
sim time: 1.2000000000000006
reward: -36.6853724391

time: 21
sim time: 1.2600000000000007
reward: -35.6300016062

time: 22
sim time: 1.3200000000000007
reward: -34.4721761388

time: 23
sim time: 1.3800000000000008
reward: -33.2189592069

time: 24
sim time: 1.4400000000000008
reward: -31.9998971452

time: 25
sim time: 1.5000000000000009
reward: -30.7207271792

time: 26
sim time: 1.560000000000001
reward: -29.3535528002

time: 27
sim time: 1.620000000000001
reward: -27.9500517301

time: 28
sim time: 1.680000000000001
reward: -26.5557999538

time: 29
sim time: 1.740000000000001
reward: -25.1431987196

time: 30
sim time: 1.8000000000000012
reward: -23.6678043126

time: 31
sim time: 1.8600000000000012
reward: -22.3563728802

time: 32
sim time: 1.9200000000000013
reward: -21.1886590733

time: 33
sim time: 1.9800000000000013
reward: -20.0232458792

time: 34
sim time: 2.0400000000000014
reward: -18.809915533

time: 35
sim time: 2.1000000000000014
reward: -17.5973612357

time: 36
sim time: 2.1600000000000015
reward: -16.3505166039

time: 37
sim time: 2.2200000000000015
reward: -15.1209357111

time: 38
sim time: 2.2800000000000016
reward: -13.9077031155

time: 39
sim time: 2.3400000000000016
reward: -12.7273677781

time: 40
sim time: 2.4000000000000017
reward: -11.6201093241

time: 41
sim time: 2.4600000000000017
reward: -10.6052375679

time: 42
sim time: 2.520000000000002
reward: -9.90259505776

time: 43
sim time: 2.580000000000002
reward: -9.82280372315

time: 44
sim time: 2.640000000000002
reward: -11.0921657077

time: 45
sim time: 2.700000000000002
reward: -20.1186950436
avg_episode_reward: -30.9950525282

i_episode: 2



time: 0
sim time: 0.0
reward: -45.0080792791

time: 1
sim time: 0.06
reward: -45.0060317843

time: 2
sim time: 0.12000000000000001
reward: -45.0163478477

time: 3
sim time: 0.18
reward: -44.9926699813

time: 4
sim time: 0.23999999999999996
reward: -44.9565897369

time: 5
sim time: 0.3
reward: -44.9108679983

time: 6
sim time: 0.36000000000000004
reward: -44.7653676434

time: 7
sim time: 0.4200000000000001
reward: -44.5664411486

time: 8
sim time: 0.48000000000000015
reward: -44.3586510264

time: 9
sim time: 0.5400000000000001
reward: -44.1118788135

time: 10
sim time: 0.6000000000000002
reward: -43.7668249565

time: 11
sim time: 0.6600000000000003
reward: -43.3341531975

time: 12
sim time: 0.7200000000000003
reward: -42.9024105873

time: 13
sim time: 0.7800000000000004
reward: -42.3965008395

time: 14
sim time: 0.8400000000000004
reward: -41.7933474226

time: 15
sim time: 0.9000000000000005
reward: -41.0776908965

time: 16
sim time: 0.9600000000000005
reward: -40.375821482

time: 17
sim time: 1.0200000000000005
reward: -39.578513166

time: 18
sim time: 1.0800000000000005
reward: -38.68327607

time: 19
sim time: 1.1400000000000006
reward: -37.6726972929

time: 20
sim time: 1.2000000000000006
reward: -36.674046456

time: 21
sim time: 1.2600000000000007
reward: -35.6290859734

time: 22
sim time: 1.3200000000000007
reward: -34.5376213795

time: 23
sim time: 1.3800000000000008
reward: -33.4122703033

time: 24
sim time: 1.4400000000000008
reward: -32.3131019907

time: 25
sim time: 1.5000000000000009
reward: -31.2096940411

time: 26
sim time: 1.560000000000001
reward: -30.1811819185

time: 27
sim time: 1.620000000000001
reward: -29.2624454363

time: 28
sim time: 1.680000000000001
reward: -28.3839886174

time: 29
sim time: 1.740000000000001
reward: -27.511515047

time: 30
sim time: 1.8000000000000012
reward: -26.6167961341

time: 31
sim time: 1.8600000000000012
reward: -25.6255104187

time: 32
sim time: 1.9200000000000013
reward: -24.6639856196

time: 33
sim time: 1.9800000000000013
reward: -23.7599894449

time: 34
sim time: 2.0400000000000014
reward: -22.8762564838

time: 35
sim time: 2.1000000000000014
reward: -21.9303069966

time: 36
sim time: 2.1600000000000015
reward: -20.9426482031

time: 37
sim time: 2.2200000000000015
reward: -19.8636508122

time: 38
sim time: 2.2800000000000016
reward: -18.7734486755

time: 39
sim time: 2.3400000000000016
reward: -17.7177784861

time: 40
sim time: 2.4000000000000017
reward: -16.7217881678

time: 41
sim time: 2.4600000000000017
reward: -15.6647784863

time: 42
sim time: 2.520000000000002
reward: -14.616833233

time: 43
sim time: 2.580000000000002
reward: -13.6014258791

time: 44
sim time: 2.640000000000002
reward: -12.6639047615

time: 45
sim time: 2.700000000000002
reward: -11.7365282912

time: 46
sim time: 2.760000000000002
reward: -10.9464395603

time: 47
sim time: 2.820000000000002
reward: -10.4382316808
avg_episode_reward: -31.4072794514

i_episode: 3



time: 0
sim time: 0.0
reward: -45.033770152

time: 1
sim time: 0.06
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time: 2
sim time: 0.12000000000000001
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time: 3
sim time: 0.18
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time: 4
sim time: 0.23999999999999996
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time: 5
sim time: 0.3
reward: -45.6809875571

time: 6
sim time: 0.36000000000000004
reward: -45.7592404401

time: 7
sim time: 0.4200000000000001
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time: 8
sim time: 0.48000000000000015
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time: 9
sim time: 0.5400000000000001
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time: 10
sim time: 0.6000000000000002
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time: 11
sim time: 0.6600000000000003
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time: 12
sim time: 0.7200000000000003
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time: 13
sim time: 0.7800000000000004
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time: 14
sim time: 0.8400000000000004
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time: 15
sim time: 0.9000000000000005
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time: 16
sim time: 0.9600000000000005
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time: 17
sim time: 1.0200000000000005
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time: 18
sim time: 1.0800000000000005
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time: 19
sim time: 1.1400000000000006
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time: 20
sim time: 1.2000000000000006
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time: 21
sim time: 1.2600000000000007
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time: 22
sim time: 1.3200000000000007
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time: 23
sim time: 1.3800000000000008
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time: 24
sim time: 1.4400000000000008
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sim time: 1.5000000000000009
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time: 26
sim time: 1.560000000000001
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time: 27
sim time: 1.620000000000001
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time: 28
sim time: 1.680000000000001
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time: 29
sim time: 1.740000000000001
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time: 30
sim time: 1.8000000000000012
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time: 31
sim time: 1.8600000000000012
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time: 32
sim time: 1.9200000000000013
reward: -56.0663336102

time: 33
sim time: 1.9800000000000013
reward: -56.7356048987

time: 34
sim time: 2.0400000000000014
reward: -57.4692836115

time: 35
sim time: 2.1000000000000014
reward: -58.1893075911

time: 36
sim time: 2.1600000000000015
reward: -58.8863128191

time: 37
sim time: 2.2200000000000015
reward: -59.6432967782

time: 38
sim time: 2.2800000000000016
reward: -60.4394825724

time: 39
sim time: 2.3400000000000016
reward: -61.1848812896

time: 40
sim time: 2.4000000000000017
reward: -61.8473416401

time: 41
sim time: 2.4600000000000017
reward: -62.4279019654

time: 42
sim time: 2.520000000000002
reward: -62.8607365061

time: 43
sim time: 2.580000000000002
reward: -63.1688896783

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sim time: 2.640000000000002
reward: -63.3201438152

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sim time: 2.700000000000002
reward: -63.3141062229

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sim time: 2.760000000000002
reward: -63.1616723815

time: 47
sim time: 2.820000000000002
reward: -62.924508008

time: 48
sim time: 2.880000000000002
reward: -62.6125255598

time: 49
sim time: 2.940000000000002
reward: -62.1717499263

time: 50
sim time: 3.000000000000002
reward: -61.6654742933

time: 51
sim time: 3.0600000000000023
reward: -61.2117614116

time: 52
sim time: 3.1200000000000023
reward: -60.7915477382

time: 53
sim time: 3.1800000000000024
reward: -60.3837184936

time: 54
sim time: 3.2400000000000024
reward: -60.0353956643

time: 55
sim time: 3.3000000000000025
reward: -59.7779001663

time: 56
sim time: 3.3600000000000025
reward: -59.6433717343

time: 57
sim time: 3.4200000000000026
reward: -59.631932261

time: 58
sim time: 3.4800000000000026
reward: -59.6978253847

time: 59
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sim time: 0.9600000000000005
reward: -42.6410933718

time: 17
sim time: 1.0200000000000005
reward: -42.2400816363

time: 18
sim time: 1.0800000000000005
reward: -41.7965064041

time: 19
sim time: 1.1400000000000006
reward: -41.3271435673

time: 20
sim time: 1.2000000000000006
reward: -40.8338121588

time: 21
sim time: 1.2600000000000007
reward: -40.2996468929

time: 22
sim time: 1.3200000000000007
reward: -39.7315357559

time: 23
sim time: 1.3800000000000008
reward: -39.1425799591

time: 24
sim time: 1.4400000000000008
reward: -38.5189528275

time: 25
sim time: 1.5000000000000009
reward: -37.854901352

time: 26
sim time: 1.560000000000001
reward: -37.1691393254

time: 27
sim time: 1.620000000000001
reward: -36.4576259014

time: 28
sim time: 1.680000000000001
reward: -35.7010648037

time: 29
sim time: 1.740000000000001
reward: -34.9149960813

time: 30
sim time: 1.8000000000000012
reward: -34.1150331406

time: 31
sim time: 1.8600000000000012
reward: -33.2761110744

time: 32
sim time: 1.9200000000000013
reward: -32.3910475671

time: 33
sim time: 1.9800000000000013
reward: -31.4941799646

time: 34
sim time: 2.0400000000000014
reward: -30.5792962639

time: 35
sim time: 2.1000000000000014
reward: -29.6092087358

time: 36
sim time: 2.1600000000000015
reward: -28.6070893669

time: 37
sim time: 2.2200000000000015
reward: -27.6109543237

time: 38
sim time: 2.2800000000000016
reward: -26.5805466514

time: 39
sim time: 2.3400000000000016
reward: -25.4846415912

time: 40
sim time: 2.4000000000000017
reward: -24.384930533

time: 41
sim time: 2.4600000000000017
reward: -23.2999497003

time: 42
sim time: 2.520000000000002
reward: -22.1566724321

time: 43
sim time: 2.580000000000002
reward: -20.956982783

time: 44
sim time: 2.640000000000002
reward: -19.7964550297

time: 45
sim time: 2.700000000000002
reward: -18.6478227698

time: 46
sim time: 2.760000000000002
reward: -17.4121946668

time: 47
sim time: 2.820000000000002
reward: -16.1626770623

time: 48
sim time: 2.880000000000002
reward: -15.0261006209

time: 49
sim time: 2.940000000000002
reward: -13.9103891244

time: 50
sim time: 3.000000000000002
reward: -12.7028806788

time: 51
sim time: 3.0600000000000023
reward: -11.6302199634

time: 52
sim time: 3.1200000000000023
reward: -10.9228477879

time: 53
sim time: 3.1800000000000024
reward: -10.4945192693

time: 54
sim time: 3.2400000000000024
reward: -10.3792731206
avg_episode_reward: -32.8747062132

Plot the Rewards

Once you are satisfied with your performance, plot the episode rewards, either from a single run, or averaged over multiple runs.

## TODO: Plot the rewards.
plt.plot(range(len(avg_episode_rewards)), avg_episode_rewards, label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

ATTEMPT 2

import sys
import pandas as pd
from agents.agent import DDPG
from task import Task

num_episodes = 1000
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []
file_output = 'data2.txt'

'''
Leave things the same as before, just record simulation and action history for plotting
'''
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

'''
USED THIS REWARD FUNCTION in task.py:
reward = -.3*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - .3*(abs(self.sim.v[:3] - self.target_vel)).sum()/( 1.*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
'''

for i_episode in range(1, num_episodes+1):
    print("")
    print("i_episode: " + str(i_episode))
    print("")
    print("")
    state = agent.reset_episode() # start a new episode
    time = 0
    total_episode_reward = 0
    count = 0
    
    with open(file_output, 'w') as csvfile:
        writer = csv.writer(csvfile)
        writer.writerow(labels)
    
        while True:
            print("")
            print("time: " + str(time))
            print("sim time: " + str(task.sim.time))
        
            action = agent.act(state) 
            next_state, reward, done = task.step(action)
            print("reward: " + str(reward))
        
            if i_episode == num_episodes: #only write last episode with trained model
                to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
                for ii in range(len(labels)):
                    results[labels[ii]].append(to_write[ii])
                writer.writerow(to_write)
         
            total_episode_reward += reward
            count += 1
        
            agent.step(action, reward, next_state, done)
            state = next_state
            if done:
                break
            time += 1
    
    avg_episode_rewards.append(total_episode_reward/count)
    print("avg_episode_reward: " + str(total_episode_reward/count))
    sys.stdout.flush()

    
 
    

i_episode: 1



time: 0
sim time: 0.0
reward: -44.9988375278

time: 1
sim time: 0.06
reward: -44.9726435011

time: 2
sim time: 0.12000000000000001
reward: -44.9149215676

time: 3
sim time: 0.18
reward: -44.8255067816

time: 4
sim time: 0.23999999999999996
reward: -44.7041528071

time: 5
sim time: 0.3
reward: -44.5505205677

time: 6
sim time: 0.36000000000000004
reward: -44.364193374

time: 7
sim time: 0.4200000000000001
reward: -44.1446896657

time: 8
sim time: 0.48000000000000015
reward: -43.8914826535

time: 9
sim time: 0.5400000000000001
reward: -43.604024746

time: 10
sim time: 0.6000000000000002
reward: -43.2817774213

time: 11
sim time: 0.6600000000000003
reward: -42.9242429332

time: 12
sim time: 0.7200000000000003
reward: -42.5310064841

time: 13
sim time: 0.7800000000000004
reward: -42.101776307

time: 14
sim time: 0.8400000000000004
reward: -41.6364246361

time: 15
sim time: 0.9000000000000005
reward: -41.1350136567

time: 16
sim time: 0.9600000000000005
reward: -40.5978032917

time: 17
sim time: 1.0200000000000005
reward: -40.0252257064

time: 18
sim time: 1.0800000000000005
reward: -39.4178093867

time: 19
sim time: 1.1400000000000006
reward: -38.7760349369

time: 20
sim time: 1.2000000000000006
reward: -38.1001209863

time: 21
sim time: 1.2600000000000007
reward: -37.389733499

time: 22
sim time: 1.3200000000000007
reward: -36.6436580362

time: 23
sim time: 1.3800000000000008
reward: -35.8595172409

time: 24
sim time: 1.4400000000000008
reward: -35.0336309347

time: 25
sim time: 1.5000000000000009
reward: -34.1611756726

time: 26
sim time: 1.560000000000001
reward: -33.2368086604

time: 27
sim time: 1.620000000000001
reward: -32.2558390172

time: 28
sim time: 1.680000000000001
reward: -31.2158639153

time: 29
sim time: 1.740000000000001
reward: -30.1185199433

time: 30
sim time: 1.8000000000000012
reward: -28.9707137484

time: 31
sim time: 1.8600000000000012
reward: -27.7845808385

time: 32
sim time: 1.9200000000000013
reward: -26.5756973484

time: 33
sim time: 1.9800000000000013
reward: -25.3595040158

time: 34
sim time: 2.0400000000000014
reward: -24.1469705926

time: 35
sim time: 2.1000000000000014
reward: -22.9418916303

time: 36
sim time: 2.1600000000000015
reward: -21.7418844772

time: 37
sim time: 2.2200000000000015
reward: -20.5436344798

time: 38
sim time: 2.2800000000000016
reward: -19.350822433

time: 39
sim time: 2.3400000000000016
reward: -18.1810668056

time: 40
sim time: 2.4000000000000017
reward: -17.0671976677

time: 41
sim time: 2.4600000000000017
reward: -16.0505774696

time: 42
sim time: 2.520000000000002
reward: -15.1702848595

time: 43
sim time: 2.580000000000002
reward: -14.4572655308

time: 44
sim time: 2.640000000000002
reward: -13.9673977267
avg_episode_reward: -33.6382765663

i_episode: 2



time: 0
sim time: 0.0
reward: -44.9988377208

time: 1
sim time: 0.06
reward: -44.972647837

time: 2
sim time: 0.12000000000000001
reward: -44.914931257

time: 3
sim time: 0.18
reward: -44.8255221417

time: 4
sim time: 0.23999999999999996
reward: -44.7041731923

time: 5
sim time: 0.3
reward: -44.5505464586

time: 6
sim time: 0.36000000000000004
reward: -44.3642259387

time: 7
sim time: 0.4200000000000001
reward: -44.1447317901

time: 8
sim time: 0.48000000000000015
reward: -43.8915414917

time: 9
sim time: 0.5400000000000001
reward: -43.6041102654

time: 10
sim time: 0.6000000000000002
reward: -43.2819001144

time: 11
sim time: 0.6600000000000003
reward: -42.9244212929

time: 12
sim time: 0.7200000000000003
reward: -42.5312672188

time: 13
sim time: 0.7800000000000004
reward: -42.1021561569

time: 14
sim time: 0.8400000000000004
reward: -41.6369705081

time: 15
sim time: 0.9000000000000005
reward: -41.1357823131

time: 16
sim time: 0.9600000000000005
reward: -40.5988556216

time: 17
sim time: 1.0200000000000005
reward: -40.0266169546

time: 18
sim time: 1.0800000000000005
reward: -39.4195693426

time: 19
sim time: 1.1400000000000006
reward: -38.7781364252

time: 20
sim time: 1.2000000000000006
reward: -38.1011580716

time: 21
sim time: 1.2600000000000007
reward: -37.3854127728

time: 22
sim time: 1.3200000000000007
reward: -36.6305943596

time: 23
sim time: 1.3800000000000008
reward: -35.8589768175

time: 24
sim time: 1.4400000000000008
reward: -35.0714394262

time: 25
sim time: 1.5000000000000009
reward: -34.2952227589

time: 26
sim time: 1.560000000000001
reward: -33.4889010839

time: 27
sim time: 1.620000000000001
reward: -32.6354364388

time: 28
sim time: 1.680000000000001
reward: -31.7844509761

time: 29
sim time: 1.740000000000001
reward: -30.9611979704

time: 30
sim time: 1.8000000000000012
reward: -30.1195914185

time: 31
sim time: 1.8600000000000012
reward: -29.23808974

time: 32
sim time: 1.9200000000000013
reward: -28.3684197669

time: 33
sim time: 1.9800000000000013
reward: -27.5408159223

time: 34
sim time: 2.0400000000000014
reward: -26.6798189138

time: 35
sim time: 2.1000000000000014
reward: -25.7776743723

time: 36
sim time: 2.1600000000000015
reward: -24.86653734

time: 37
sim time: 2.2200000000000015
reward: -23.9198037087

time: 38
sim time: 2.2800000000000016
reward: -22.9125158938

time: 39
sim time: 2.3400000000000016
reward: -21.9146882475

time: 40
sim time: 2.4000000000000017
reward: -20.920350569

time: 41
sim time: 2.4600000000000017
reward: -19.838175727

time: 42
sim time: 2.520000000000002
reward: -18.7284453293

time: 43
sim time: 2.580000000000002
reward: -17.6483628402

time: 44
sim time: 2.640000000000002
reward: -16.5281695483

time: 45
sim time: 2.700000000000002
reward: -15.3387222571

time: 46
sim time: 2.760000000000002
reward: -14.1713230643

time: 47
sim time: 2.820000000000002
reward: -13.0791558323

time: 48
sim time: 2.880000000000002
reward: -12.2358937591

time: 49
sim time: 2.940000000000002
reward: -11.7419333696

time: 50
sim time: 3.000000000000002
reward: -11.6529177054
avg_episode_reward: -32.0949243146

i_episode: 3



time: 0
sim time: 0.0
reward: -45.00510889

time: 1
sim time: 0.06
reward: -45.0157243605

time: 2
sim time: 0.12000000000000001
reward: -45.0107198002

time: 3
sim time: 0.18
reward: -44.9651001659

time: 4
sim time: 0.23999999999999996
reward: -44.8354475078

time: 5
sim time: 0.3
reward: -44.613743471

time: 6
sim time: 0.36000000000000004
reward: -44.2877673702

time: 7
sim time: 0.4200000000000001
reward: -43.8420539487

time: 8
sim time: 0.48000000000000015
reward: -43.2684281823

time: 9
sim time: 0.5400000000000001
reward: -42.5886993803

time: 10
sim time: 0.6000000000000002
reward: -41.7821250223

time: 11
sim time: 0.6600000000000003
reward: -40.8995185867

time: 12
sim time: 0.7200000000000003
reward: -40.3162676459

time: 13
sim time: 0.7800000000000004
reward: -39.8376327011

time: 14
sim time: 0.8400000000000004
reward: -39.4078621082

time: 15
sim time: 0.9000000000000005
reward: -39.0119746479

time: 16
sim time: 0.9600000000000005
reward: -38.6311974414

time: 17
sim time: 1.0200000000000005
reward: -38.2488757647

time: 18
sim time: 1.0800000000000005
reward: -37.8613057161

time: 19
sim time: 1.1400000000000006
reward: -37.4654206623

time: 20
sim time: 1.2000000000000006
reward: -37.0423378767

time: 21
sim time: 1.2600000000000007
reward: -36.5229375414

time: 22
sim time: 1.3200000000000007
reward: -35.8382864055

time: 23
sim time: 1.3800000000000008
reward: -35.0539335285

time: 24
sim time: 1.4400000000000008
reward: -34.2031678612

time: 25
sim time: 1.5000000000000009
reward: -33.2574868747

time: 26
sim time: 1.560000000000001
reward: -32.1378847457

time: 27
sim time: 1.620000000000001
reward: -30.9404306415

time: 28
sim time: 1.680000000000001
reward: -29.7199494281

time: 29
sim time: 1.740000000000001
reward: -28.3814477153

time: 30
sim time: 1.8000000000000012
reward: -26.9001628091

time: 31
sim time: 1.8600000000000012
reward: -25.4587167693

time: 32
sim time: 1.9200000000000013
reward: -24.2987390085

time: 33
sim time: 1.9800000000000013
reward: -23.7198941814

time: 34
sim time: 2.0400000000000014
reward: -23.2067472952

time: 35
sim time: 2.1000000000000014
reward: -22.7736445718

time: 36
sim time: 2.1600000000000015
reward: -22.1560463189

time: 37
sim time: 2.2200000000000015
reward: -21.4262832199

time: 38
sim time: 2.2800000000000016
reward: -20.7571112015

time: 39
sim time: 2.3400000000000016
reward: -20.058673909

time: 40
sim time: 2.4000000000000017
reward: -19.0723159545

time: 41
sim time: 2.4600000000000017
reward: -18.0779899986

time: 42
sim time: 2.520000000000002
reward: -17.1430906992

time: 43
sim time: 2.580000000000002
reward: -16.0702519254

time: 44
sim time: 2.640000000000002
reward: -14.7062428098

time: 45
sim time: 2.700000000000002
reward: -13.4890381051

time: 46
sim time: 2.760000000000002
reward: -12.8324190756
avg_episode_reward: -32.1731958265

i_episode: 4



time: 0
sim time: 0.0
reward: -45.0226633365

time: 1
sim time: 0.06
reward: -45.0754997011

time: 2
sim time: 0.12000000000000001
reward: -45.093741854

time: 3
sim time: 0.18
reward: -45.0832793262

time: 4
sim time: 0.23999999999999996
reward: -45.068321747

time: 5
sim time: 0.3
reward: -44.956745435

time: 6
sim time: 0.36000000000000004
reward: -44.7839003676

time: 7
sim time: 0.4200000000000001
reward: -44.752459738

time: 8
sim time: 0.48000000000000015
reward: -44.6320157615

time: 9
sim time: 0.5400000000000001
reward: -44.3507153753

time: 10
sim time: 0.6000000000000002
reward: -44.0172629987

time: 11
sim time: 0.6600000000000003
reward: -43.5924293849

time: 12
sim time: 0.7200000000000003
reward: -43.2159833023

time: 13
sim time: 0.7800000000000004
reward: -42.7832801648

time: 14
sim time: 0.8400000000000004
reward: -42.1451651729

time: 15
sim time: 0.9000000000000005
reward: -41.4007751621

time: 16
sim time: 0.9600000000000005
reward: -41.0424360532

time: 17
sim time: 1.0200000000000005
reward: -40.7927448466

time: 18
sim time: 1.0800000000000005
reward: -40.5204117411

time: 19
sim time: 1.1400000000000006
reward: -40.2059924133

time: 20
sim time: 1.2000000000000006
reward: -39.8173946902

time: 21
sim time: 1.2600000000000007
reward: -39.2264003902

time: 22
sim time: 1.3200000000000007
reward: -38.7120227641

time: 23
sim time: 1.3800000000000008
reward: -38.6144389612

time: 24
sim time: 1.4400000000000008
reward: -38.4090609966

time: 25
sim time: 1.5000000000000009
reward: -38.0700861093

time: 26
sim time: 1.560000000000001
reward: -37.5779045282

time: 27
sim time: 1.620000000000001
reward: -36.9126770571

time: 28
sim time: 1.680000000000001
reward: -36.0522013136

time: 29
sim time: 1.740000000000001
reward: -34.9732185346

time: 30
sim time: 1.8000000000000012
reward: -33.6543879331

time: 31
sim time: 1.8600000000000012
reward: -32.0808757121

time: 32
sim time: 1.9200000000000013
reward: -30.3568118838

time: 33
sim time: 1.9800000000000013
reward: -28.4582618553

time: 34
sim time: 2.0400000000000014
reward: -26.3625195987

time: 35
sim time: 2.1000000000000014
reward: -24.1089783024

time: 36
sim time: 2.1600000000000015
reward: -21.7603727274

time: 37
sim time: 2.2200000000000015
reward: -19.420162028

time: 38
sim time: 2.2800000000000016
reward: -17.4214801963

time: 39
sim time: 2.3400000000000016
reward: -16.741751981

time: 40
sim time: 2.4000000000000017
reward: -16.4241133357

time: 41
sim time: 2.4600000000000017
reward: -16.5374094334

time: 42
sim time: 2.520000000000002
reward: -17.3216913426
avg_episode_reward: -35.9895359432

i_episode: 5



time: 0
sim time: 0.0
reward: -45.0606039835

time: 1
sim time: 0.06
reward: -45.2485751397

time: 2
sim time: 0.12000000000000001
reward: -45.5591079881

time: 3
sim time: 0.18
reward: -45.9883503593

time: 4
sim time: 0.23999999999999996
reward: -46.5311779335

time: 5
sim time: 0.3
reward: -47.181367848

time: 6
sim time: 0.36000000000000004
reward: -47.9318584883

time: 7
sim time: 0.4200000000000001
reward: -48.7751270192

time: 8
sim time: 0.48000000000000015
reward: -49.7034729469

time: 9
sim time: 0.5400000000000001
reward: -50.7091692912

time: 10
sim time: 0.6000000000000002
reward: -51.7846602045

time: 11
sim time: 0.6600000000000003
reward: -52.9227185082

time: 12
sim time: 0.7200000000000003
reward: -54.1166605629

time: 13
sim time: 0.7800000000000004
reward: -55.360042879

time: 14
sim time: 0.8400000000000004
reward: -56.6471387259

time: 15
sim time: 0.9000000000000005
reward: -57.9757545217

time: 16
sim time: 0.9600000000000005
reward: -59.3424132722

time: 17
sim time: 1.0200000000000005
reward: -60.7271456329

time: 18
sim time: 1.0800000000000005
reward: -62.0499402929

time: 19
sim time: 1.1400000000000006
reward: -63.2867247769

time: 20
sim time: 1.2000000000000006
reward: -64.5478061679

time: 21
sim time: 1.2600000000000007
reward: -65.9438108414

time: 22
sim time: 1.3200000000000007
reward: -67.4163482781

time: 23
sim time: 1.3800000000000008
reward: -68.8833604688

time: 24
sim time: 1.4400000000000008
reward: -70.2599920533

time: 25
sim time: 1.5000000000000009
reward: -71.5963804794

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reward: -13.4323745899

time: 48
sim time: 2.880000000000002
reward: -12.312268406

time: 49
sim time: 2.940000000000002
reward: -11.3330973601

time: 50
sim time: 3.000000000000002
reward: -10.4031566501

time: 51
sim time: 3.0600000000000023
reward: -9.81304080639

time: 52
sim time: 3.1200000000000023
reward: -10.4338949119

time: 53
sim time: 3.1800000000000024
reward: -15.3707591604

time: 54
sim time: 3.2400000000000024
reward: -29.4010906655
avg_episode_reward: -31.963565558

i_episode: 1000



time: 0
sim time: 0.0
reward: -45.0068663795

time: 1
sim time: 0.06
reward: -45.031490821

time: 2
sim time: 0.12000000000000001
reward: -45.0411332573

time: 3
sim time: 0.18
reward: -45.0244308918

time: 4
sim time: 0.23999999999999996
reward: -44.9874484229

time: 5
sim time: 0.3
reward: -44.8639366602

time: 6
sim time: 0.36000000000000004
reward: -44.7322052191

time: 7
sim time: 0.4200000000000001
reward: -44.6191872536

time: 8
sim time: 0.48000000000000015
reward: -44.4339334964

time: 9
sim time: 0.5400000000000001
reward: -44.1810308143

time: 10
sim time: 0.6000000000000002
reward: -43.9452151845

time: 11
sim time: 0.6600000000000003
reward: -43.6994550434

time: 12
sim time: 0.7200000000000003
reward: -43.3663674777

time: 13
sim time: 0.7800000000000004
reward: -42.9968788509

time: 14
sim time: 0.8400000000000004
reward: -42.6514498143

time: 15
sim time: 0.9000000000000005
reward: -42.2623396312

time: 16
sim time: 0.9600000000000005
reward: -41.7907189377

time: 17
sim time: 1.0200000000000005
reward: -41.3129794128

time: 18
sim time: 1.0800000000000005
reward: -40.8455541608

time: 19
sim time: 1.1400000000000006
reward: -40.3100458916

time: 20
sim time: 1.2000000000000006
reward: -39.7127009247

time: 21
sim time: 1.2600000000000007
reward: -39.1265230263

time: 22
sim time: 1.3200000000000007
reward: -38.5261395315

time: 23
sim time: 1.3800000000000008
reward: -37.8487710917

time: 24
sim time: 1.4400000000000008
reward: -37.1349497967

time: 25
sim time: 1.5000000000000009
reward: -36.4341847615

time: 26
sim time: 1.560000000000001
reward: -35.6966469766

time: 27
sim time: 1.620000000000001
reward: -34.8871738287

time: 28
sim time: 1.680000000000001
reward: -34.0601411561

time: 29
sim time: 1.740000000000001
reward: -33.2373197427

time: 30
sim time: 1.8000000000000012
reward: -32.364450113

time: 31
sim time: 1.8600000000000012
reward: -31.4328163501

time: 32
sim time: 1.9200000000000013
reward: -30.4934630332

time: 33
sim time: 1.9800000000000013
reward: -29.5473003647

time: 34
sim time: 2.0400000000000014
reward: -28.5462184413

time: 35
sim time: 2.1000000000000014
reward: -27.4972061245

time: 36
sim time: 2.1600000000000015
reward: -26.4462629553

time: 37
sim time: 2.2200000000000015
reward: -25.3853278846

time: 38
sim time: 2.2800000000000016
reward: -24.2701414849

time: 39
sim time: 2.3400000000000016
reward: -23.1102870706

time: 40
sim time: 2.4000000000000017
reward: -21.9561489909

time: 41
sim time: 2.4600000000000017
reward: -20.7986349479

time: 42
sim time: 2.520000000000002
reward: -19.5905599439

time: 43
sim time: 2.580000000000002
reward: -18.3422071696

time: 44
sim time: 2.640000000000002
reward: -17.1263919898

time: 45
sim time: 2.700000000000002
reward: -15.9267509749

time: 46
sim time: 2.760000000000002
reward: -14.683080696

time: 47
sim time: 2.820000000000002
reward: -13.4240959149

time: 48
sim time: 2.880000000000002
reward: -12.304464609

time: 49
sim time: 2.940000000000002
reward: -11.3265344329

time: 50
sim time: 3.000000000000002
reward: -10.3971670579

time: 51
sim time: 3.0600000000000023
reward: -9.80858659027

time: 52
sim time: 3.1200000000000023
reward: -10.4367550611

time: 53
sim time: 3.1800000000000024
reward: -15.4258698401

time: 54
sim time: 3.2400000000000024
reward: -30.1750593828
avg_episode_reward: -31.9742363615

## TODO: Plot the rewards.
plt.plot(range(len(avg_episode_rewards)), avg_episode_rewards, label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

Not monotonically increasing, but does have an interestingly symmetric structure. Examine on smaller scale.

## TODO: Plot the rewards.
plt.plot(range(len(avg_episode_rewards[:50])), avg_episode_rewards[:50], label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

plt.plot(results['time'], results['x'], label='x')
plt.plot(results['time'], results['y'], label='y')
plt.plot(results['time'], results['z'], label='z')
plt.legend()
_ = plt.ylim()

ATTEMPT 3

"""
Decided to record and plot spatial trajectory of quadcopter over the last episode, when the networks have been 
trained. 
"""

import sys
import pandas as pd
from agents.agent import DDPG
from task import Task

num_episodes = 1000
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []
file_output = 'data2.txt'

'''
Leave things the same as before, just record simulation and action history for plotting
'''
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

'''
USED THIS REWARD FUNCTION in task.py:
reward = -.3*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - .3*(abs(self.sim.v[:3] - self.target_vel)).sum()/( 1.*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
'''

for i_episode in range(1, num_episodes+1):
    print("")
    print("i_episode: " + str(i_episode))
    print("")
    print("")
    state = agent.reset_episode() # start a new episode
    time = 0
    total_episode_reward = 0
    count = 0
    
    with open(file_output, 'w') as csvfile:
        writer = csv.writer(csvfile)
        writer.writerow(labels)
    
        while True:
            print("")
            print("time: " + str(time))
            print("sim time: " + str(task.sim.time))
        
            action = agent.act(state) 
            next_state, reward, done = task.step(action)
            print("reward: " + str(reward))
        
            if i_episode == num_episodes: #only write last episode with fully trained actor and critic networks
                to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
                for ii in range(len(labels)):
                    results[labels[ii]].append(to_write[ii])
                writer.writerow(to_write)
         
            total_episode_reward += reward
            count += 1
        
            agent.step(action, reward, next_state, done)
            state = next_state
            if done:
                break
            time += 1
    
    avg_episode_rewards.append(total_episode_reward/count)
    print("avg_episode_reward: " + str(total_episode_reward/count))
    sys.stdout.flush()

i_episode: 1



time: 0
sim time: 0.0
reward: -45.0139137914

time: 1
sim time: 0.06
reward: -45.068840717

time: 2
sim time: 0.12000000000000001
reward: -45.1401360922

time: 3
sim time: 0.18
reward: -45.2308203302

time: 4
sim time: 0.23999999999999996
reward: -45.3514232603

time: 5
sim time: 0.3
reward: -45.4963771936

time: 6
sim time: 0.36000000000000004
reward: -45.5762835862

time: 7
sim time: 0.4200000000000001
reward: -45.5548005537

time: 8
sim time: 0.48000000000000015
reward: -45.455668222

time: 9
sim time: 0.5400000000000001
reward: -45.2808065366

time: 10
sim time: 0.6000000000000002
reward: -45.0692330213

time: 11
sim time: 0.6600000000000003
reward: -44.8722635114

time: 12
sim time: 0.7200000000000003
reward: -44.6404813247

time: 13
sim time: 0.7800000000000004
reward: -44.376385638

time: 14
sim time: 0.8400000000000004
reward: -44.1276760859

time: 15
sim time: 0.9000000000000005
reward: -43.8459817339

time: 16
sim time: 0.9600000000000005
reward: -43.5324137346

time: 17
sim time: 1.0200000000000005
reward: -43.224760116

time: 18
sim time: 1.0800000000000005
reward: -42.8601820642

time: 19
sim time: 1.1400000000000006
reward: -42.4197554911

time: 20
sim time: 1.2000000000000006
reward: -41.9195053526

time: 21
sim time: 1.2600000000000007
reward: -41.3206913716

time: 22
sim time: 1.3200000000000007
reward: -40.6916939299

time: 23
sim time: 1.3800000000000008
reward: -40.0919145472

time: 24
sim time: 1.4400000000000008
reward: -39.5119243754

time: 25
sim time: 1.5000000000000009
reward: -38.9514212367

time: 26
sim time: 1.560000000000001
reward: -38.3995390803

time: 27
sim time: 1.620000000000001
reward: -37.7823889357

time: 28
sim time: 1.680000000000001
reward: -37.0963174569

time: 29
sim time: 1.740000000000001
reward: -36.3677129206

time: 30
sim time: 1.8000000000000012
reward: -35.5902511359

time: 31
sim time: 1.8600000000000012
reward: -34.799044415

time: 32
sim time: 1.9200000000000013
reward: -33.9713163169

time: 33
sim time: 1.9800000000000013
reward: -33.0784757813

time: 34
sim time: 2.0400000000000014
reward: -32.1524839458

time: 35
sim time: 2.1000000000000014
reward: -31.2700891993

time: 36
sim time: 2.1600000000000015
reward: -30.3626707788

time: 37
sim time: 2.2200000000000015
reward: -29.3845026869

time: 38
sim time: 2.2800000000000016
reward: -28.3536608633

time: 39
sim time: 2.3400000000000016
reward: -27.3047703259

time: 40
sim time: 2.4000000000000017
reward: -26.2159217103

time: 41
sim time: 2.4600000000000017
reward: -25.111015354

time: 42
sim time: 2.520000000000002
reward: -23.9281778429

time: 43
sim time: 2.580000000000002
reward: -22.7207733209

time: 44
sim time: 2.640000000000002
reward: -21.5105732792

time: 45
sim time: 2.700000000000002
reward: -20.3723714124

time: 46
sim time: 2.760000000000002
reward: -19.2719807586

time: 47
sim time: 2.820000000000002
reward: -18.1392715001

time: 48
sim time: 2.880000000000002
reward: -16.9178042784

time: 49
sim time: 2.940000000000002
reward: -15.7498203518

time: 50
sim time: 3.000000000000002
reward: -14.5341469647

time: 51
sim time: 3.0600000000000023
reward: -13.2725710524

time: 52
sim time: 3.1200000000000023
reward: -12.0661811055

time: 53
sim time: 3.1800000000000024
reward: -11.066537592

time: 54
sim time: 3.2400000000000024
reward: -10.7710846738
avg_episode_reward: -34.039760161

i_episode: 2



time: 0
sim time: 0.0
reward: -45.0139030947

time: 1
sim time: 0.06
reward: -45.0689605839

time: 2
sim time: 0.12000000000000001
reward: -45.1405133365

time: 3
sim time: 0.18
reward: -45.2310701235

time: 4
sim time: 0.23999999999999996
reward: -45.3509654147

time: 5
sim time: 0.3
reward: -45.4959769122

time: 6
sim time: 0.36000000000000004
reward: -45.5774783109

time: 7
sim time: 0.4200000000000001
reward: -45.5574552739

time: 8
sim time: 0.48000000000000015
reward: -45.4596655928

time: 9
sim time: 0.5400000000000001
reward: -45.2859950522

time: 10
sim time: 0.6000000000000002
reward: -45.0766507028

time: 11
sim time: 0.6600000000000003
reward: -44.8945402787

time: 12
sim time: 0.7200000000000003
reward: -44.6947401947

time: 13
sim time: 0.7800000000000004
reward: -44.4806689587

time: 14
sim time: 0.8400000000000004
reward: -44.2680376978

time: 15
sim time: 0.9000000000000005
reward: -44.1192214543

time: 16
sim time: 0.9600000000000005
reward: -43.9708989506

time: 17
sim time: 1.0200000000000005
reward: -43.7661974084

time: 18
sim time: 1.0800000000000005
reward: -43.5249491144

time: 19
sim time: 1.1400000000000006
reward: -43.2597502662

time: 20
sim time: 1.2000000000000006
reward: -42.9551809801

time: 21
sim time: 1.2600000000000007
reward: -42.5857210846

time: 22
sim time: 1.3200000000000007
reward: -42.1932652126

time: 23
sim time: 1.3800000000000008
reward: -41.868551148

time: 24
sim time: 1.4400000000000008
reward: -41.5072874309

time: 25
sim time: 1.5000000000000009
reward: -41.1205895466

time: 26
sim time: 1.560000000000001
reward: -40.6585725866

time: 27
sim time: 1.620000000000001
reward: -40.1372510168

time: 28
sim time: 1.680000000000001
reward: -39.5567238384

time: 29
sim time: 1.740000000000001
reward: -38.9611336709

time: 30
sim time: 1.8000000000000012
reward: -38.4654767768

time: 31
sim time: 1.8600000000000012
reward: -38.0629417206

time: 32
sim time: 1.9200000000000013
reward: -37.7218047333

time: 33
sim time: 1.9800000000000013
reward: -37.4177292924

time: 34
sim time: 2.0400000000000014
reward: -37.0901621515

time: 35
sim time: 2.1000000000000014
reward: -36.7145027977

time: 36
sim time: 2.1600000000000015
reward: -36.3357187873

time: 37
sim time: 2.2200000000000015
reward: -35.8998972249

time: 38
sim time: 2.2800000000000016
reward: -35.3659364462

time: 39
sim time: 2.3400000000000016
reward: -34.7645170473

time: 40
sim time: 2.4000000000000017
reward: -34.0629981473

time: 41
sim time: 2.4600000000000017
reward: -33.2400512106

time: 42
sim time: 2.520000000000002
reward: -32.3689669973

time: 43
sim time: 2.580000000000002
reward: -31.3902926435

time: 44
sim time: 2.640000000000002
reward: -30.2611754848

time: 45
sim time: 2.700000000000002
reward: -29.029850964

time: 46
sim time: 2.760000000000002
reward: -27.6820867122

time: 47
sim time: 2.820000000000002
reward: -26.171677385

time: 48
sim time: 2.880000000000002
reward: -24.5280117101

time: 49
sim time: 2.940000000000002
reward: -23.2310961881

time: 50
sim time: 3.000000000000002
reward: -22.6351871735

time: 51
sim time: 3.0600000000000023
reward: -21.9644676787

time: 52
sim time: 3.1200000000000023
reward: -21.2814384006

time: 53
sim time: 3.1800000000000024
reward: -20.7313417078

time: 54
sim time: 3.2400000000000024
reward: -20.0763654476

time: 55
sim time: 3.3000000000000025
reward: -19.2721242551

time: 56
sim time: 3.3600000000000025
reward: -18.7887667766
avg_episode_reward: -37.0409912473

i_episode: 3



time: 0
sim time: 0.0
reward: -45.0510861758

time: 1
sim time: 0.06
reward: -45.1911269187

time: 2
sim time: 0.12000000000000001
reward: -45.3055934337

time: 3
sim time: 0.18
reward: -45.4624735953

time: 4
sim time: 0.23999999999999996
reward: -45.6625140796

time: 5
sim time: 0.3
reward: -45.901621244

time: 6
sim time: 0.36000000000000004
reward: -46.1296431304

time: 7
sim time: 0.4200000000000001
reward: -46.2749327722

time: 8
sim time: 0.48000000000000015
reward: -46.3841774391

time: 9
sim time: 0.5400000000000001
reward: -46.5096682224

time: 10
sim time: 0.6000000000000002
reward: -46.5967700595

time: 11
sim time: 0.6600000000000003
reward: -46.6055332729

time: 12
sim time: 0.7200000000000003
reward: -46.6041664618

time: 13
sim time: 0.7800000000000004
reward: -46.6108196958

time: 14
sim time: 0.8400000000000004
reward: -46.5506456788

time: 15
sim time: 0.9000000000000005
reward: -46.4301225564

time: 16
sim time: 0.9600000000000005
reward: -46.3222789211

time: 17
sim time: 1.0200000000000005
reward: -46.1965830265

time: 18
sim time: 1.0800000000000005
reward: -45.9900812171

time: 19
sim time: 1.1400000000000006
reward: -45.7550966139

time: 20
sim time: 1.2000000000000006
reward: -45.5378732166

time: 21
sim time: 1.2600000000000007
reward: -45.2718983355

time: 22
sim time: 1.3200000000000007
reward: -44.9340191567

time: 23
sim time: 1.3800000000000008
reward: -44.5992408184

time: 24
sim time: 1.4400000000000008
reward: -44.2640867514

time: 25
sim time: 1.5000000000000009
reward: -43.8558031827

time: 26
sim time: 1.560000000000001
reward: -43.4046275129

time: 27
sim time: 1.620000000000001
reward: -42.9724845126

time: 28
sim time: 1.680000000000001
reward: -42.508618047

time: 29
sim time: 1.740000000000001
reward: -41.9704336116

time: 30
sim time: 1.8000000000000012
reward: -41.4251716131

time: 31
sim time: 1.8600000000000012
reward: -40.8917343337

time: 32
sim time: 1.9200000000000013
reward: -40.2981350641

time: 33
sim time: 1.9800000000000013
reward: -39.6528850653

time: 34
sim time: 2.0400000000000014
reward: -39.0256695542

time: 35
sim time: 2.1000000000000014
reward: -38.3839510733

time: 36
sim time: 2.1600000000000015
reward: -37.6732843625

time: 37
sim time: 2.2200000000000015
reward: -36.950455398

time: 38
sim time: 2.2800000000000016
reward: -36.2505864222

time: 39
sim time: 2.3400000000000016
reward: -35.5082734994

time: 40
sim time: 2.4000000000000017
reward: -34.7152181832

time: 41
sim time: 2.4600000000000017
reward: -33.9510989434

time: 42
sim time: 2.520000000000002
reward: -33.1960132081

time: 43
sim time: 2.580000000000002
reward: -32.4074975505

time: 44
sim time: 2.640000000000002
reward: -31.6146373118

time: 45
sim time: 2.700000000000002
reward: -30.8728712205

time: 46
sim time: 2.760000000000002
reward: -30.1466420972

time: 47
sim time: 2.820000000000002
reward: -29.4312476127

time: 48
sim time: 2.880000000000002
reward: -28.7404781594

time: 49
sim time: 2.940000000000002
reward: -28.122775164

time: 50
sim time: 3.000000000000002
reward: -27.6032599899

time: 51
sim time: 3.0600000000000023
reward: -27.1204598459

time: 52
sim time: 3.1200000000000023
reward: -26.5836328419

time: 53
sim time: 3.1800000000000024
reward: -26.0492088948

time: 54
sim time: 3.2400000000000024
reward: -25.4830236325

time: 55
sim time: 3.3000000000000025
reward: -24.8406111162

time: 56
sim time: 3.3600000000000025
reward: -24.1108701486

time: 57
sim time: 3.4200000000000026
reward: -23.3333814683

time: 58
sim time: 3.4800000000000026
reward: -22.6029286351
avg_episode_reward: -38.7769495266

i_episode: 4



time: 0
sim time: 0.0
reward: -45.0511099352

time: 1
sim time: 0.06
reward: -45.1919502402

time: 2
sim time: 0.12000000000000001
reward: -45.308013713

time: 3
sim time: 0.18
reward: -45.4661058732

time: 4
sim time: 0.23999999999999996
reward: -45.6664268641

time: 5
sim time: 0.3
reward: -45.9050309306

time: 6
sim time: 0.36000000000000004
reward: -46.1336185454

time: 7
sim time: 0.4200000000000001
reward: -46.2805460246

time: 8
sim time: 0.48000000000000015
reward: -46.390983285

time: 9
sim time: 0.5400000000000001
reward: -46.518258159

time: 10
sim time: 0.6000000000000002
reward: -46.6081525361

time: 11
sim time: 0.6600000000000003
reward: -46.6202754951

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sim time: 0.36000000000000004
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sim time: 0.9000000000000005
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sim time: 0.9600000000000005
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sim time: 1.0200000000000005
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sim time: 1.0800000000000005
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sim time: 1.1400000000000006
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sim time: 1.2000000000000006
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sim time: 1.2600000000000007
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sim time: 1.3200000000000007
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sim time: 1.3800000000000008
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sim time: 1.4400000000000008
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sim time: 1.5000000000000009
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sim time: 1.560000000000001
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sim time: 1.620000000000001
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sim time: 1.680000000000001
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sim time: 1.740000000000001
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sim time: 1.8000000000000012
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sim time: 1.8600000000000012
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sim time: 2.0400000000000014
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sim time: 2.1000000000000014
reward: -39.8909890936

time: 36
sim time: 2.1600000000000015
reward: -438955.923059
avg_episode_reward: -11899.4514865

i_episode: 995



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sim time: 1.3800000000000008
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sim time: 1.4400000000000008
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sim time: 1.5000000000000009
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sim time: 1.560000000000001
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sim time: 1.620000000000001
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sim time: 1.680000000000001
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sim time: 1.8000000000000012
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sim time: 1.8600000000000012
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sim time: 1.9200000000000013
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sim time: 1.9800000000000013
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sim time: 2.1000000000000014
reward: -39.8837495932

time: 36
sim time: 2.1600000000000015
reward: -148093.698394
avg_episode_reward: -4038.31010898

i_episode: 996



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time: 3
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time: 4
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time: 5
sim time: 0.3
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sim time: 1.3200000000000007
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sim time: 1.3800000000000008
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sim time: 1.4400000000000008
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sim time: 1.5000000000000009
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sim time: 1.560000000000001
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sim time: 1.620000000000001
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sim time: 1.680000000000001
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sim time: 1.740000000000001
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time: 30
sim time: 1.8000000000000012
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time: 31
sim time: 1.8600000000000012
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sim time: 1.9200000000000013
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sim time: 1.9800000000000013
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sim time: 2.0400000000000014
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time: 35
sim time: 2.1000000000000014
reward: -39.8888670024

time: 36
sim time: 2.1600000000000015
reward: -301758.710504
avg_episode_reward: -8191.41866902

i_episode: 997



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sim time: 0.23999999999999996
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sim time: 0.3
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sim time: 0.36000000000000004
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sim time: 0.4200000000000001
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sim time: 0.5400000000000001
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sim time: 0.6000000000000002
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sim time: 0.6600000000000003
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sim time: 0.7200000000000003
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sim time: 0.7800000000000004
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sim time: 0.8400000000000004
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sim time: 0.9000000000000005
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sim time: 0.9600000000000005
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sim time: 1.0200000000000005
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sim time: 1.0800000000000005
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sim time: 1.1400000000000006
reward: -38.3702498246

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sim time: 1.2000000000000006
reward: -37.5642565364

time: 21
sim time: 1.2600000000000007
reward: -36.6909861342

time: 22
sim time: 1.3200000000000007
reward: -35.744395123

time: 23
sim time: 1.3800000000000008
reward: -34.717411896

time: 24
sim time: 1.4400000000000008
reward: -33.6017376128

time: 25
sim time: 1.5000000000000009
reward: -32.387620079

time: 26
sim time: 1.560000000000001
reward: -31.0636230643

time: 27
sim time: 1.620000000000001
reward: -29.6164615924

time: 28
sim time: 1.680000000000001
reward: -28.0311014775

time: 29
sim time: 1.740000000000001
reward: -26.2916757514

time: 30
sim time: 1.8000000000000012
reward: -24.3848222545

time: 31
sim time: 1.8600000000000012
reward: -22.3105264805

time: 32
sim time: 1.9200000000000013
reward: -20.1190404857

time: 33
sim time: 1.9800000000000013
reward: -18.059383323

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sim time: 2.0400000000000014
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time: 35
sim time: 2.1000000000000014
reward: -39.8583105866

time: 36
sim time: 2.1600000000000015
reward: -47958.736336
avg_episode_reward: -1331.95923801

i_episode: 998



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sim time: 0.12000000000000001
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time: 3
sim time: 0.18
reward: -44.8237489581

time: 4
sim time: 0.23999999999999996
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time: 5
sim time: 0.3
reward: -44.5459900453

time: 6
sim time: 0.36000000000000004
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time: 7
sim time: 0.4200000000000001
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sim time: 0.48000000000000015
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sim time: 0.5400000000000001
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sim time: 0.6000000000000002
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sim time: 0.6600000000000003
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sim time: 0.7200000000000003
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sim time: 0.7800000000000004
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sim time: 0.8400000000000004
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sim time: 0.9000000000000005
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sim time: 0.9600000000000005
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sim time: 1.0200000000000005
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sim time: 1.0800000000000005
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sim time: 1.1400000000000006
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sim time: 1.2000000000000006
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sim time: 1.2600000000000007
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sim time: 1.3200000000000007
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sim time: 1.3800000000000008
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sim time: 1.4400000000000008
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time: 25
sim time: 1.5000000000000009
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time: 26
sim time: 1.560000000000001
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time: 27
sim time: 1.620000000000001
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time: 28
sim time: 1.680000000000001
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sim time: 1.740000000000001
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time: 30
sim time: 1.8000000000000012
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time: 31
sim time: 1.8600000000000012
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time: 32
sim time: 1.9200000000000013
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time: 33
sim time: 1.9800000000000013
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sim time: 2.0400000000000014
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time: 35
sim time: 2.1000000000000014
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time: 36
sim time: 2.1600000000000015
reward: -57363.0796291
avg_episode_reward: -1586.13082695

i_episode: 999



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sim time: 0.12000000000000001
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time: 3
sim time: 0.18
reward: -44.8237489734

time: 4
sim time: 0.23999999999999996
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time: 5
sim time: 0.3
reward: -44.5459900078

time: 6
sim time: 0.36000000000000004
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time: 7
sim time: 0.4200000000000001
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time: 8
sim time: 0.48000000000000015
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time: 9
sim time: 0.5400000000000001
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time: 10
sim time: 0.6000000000000002
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time: 11
sim time: 0.6600000000000003
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time: 12
sim time: 0.7200000000000003
reward: -42.4856073287

time: 13
sim time: 0.7800000000000004
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time: 14
sim time: 0.8400000000000004
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time: 15
sim time: 0.9000000000000005
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time: 16
sim time: 0.9600000000000005
reward: -40.4328878323

time: 17
sim time: 1.0200000000000005
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time: 18
sim time: 1.0800000000000005
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time: 19
sim time: 1.1400000000000006
reward: -38.3702120587

time: 20
sim time: 1.2000000000000006
reward: -37.5642070596

time: 21
sim time: 1.2600000000000007
reward: -36.6909216785

time: 22
sim time: 1.3200000000000007
reward: -35.744311585

time: 23
sim time: 1.3800000000000008
reward: -34.7173041173

time: 24
sim time: 1.4400000000000008
reward: -33.6015991175

time: 25
sim time: 1.5000000000000009
reward: -32.3874427194

time: 26
sim time: 1.560000000000001
reward: -31.0633965474

time: 27
sim time: 1.620000000000001
reward: -29.6161728635

time: 28
sim time: 1.680000000000001
reward: -28.0307340394

time: 29
sim time: 1.740000000000001
reward: -26.2912088194

time: 30
sim time: 1.8000000000000012
reward: -24.3842299816

time: 31
sim time: 1.8600000000000012
reward: -22.3097781355

time: 32
sim time: 1.9200000000000013
reward: -20.1181070095

time: 33
sim time: 1.9800000000000013
reward: -18.0582838273

time: 34
sim time: 2.0400000000000014
reward: -17.4427492522

time: 35
sim time: 2.1000000000000014
reward: -39.8914224523

time: 36
sim time: 2.1600000000000015
reward: -548963.665256
avg_episode_reward: -14872.6337185

i_episode: 1000



time: 0
sim time: 0.0
reward: -44.9988249157

time: 1
sim time: 0.06
reward: -44.9723485911

time: 2
sim time: 0.12000000000000001
reward: -44.9140433609

time: 3
sim time: 0.18
reward: -44.8237489566

time: 4
sim time: 0.23999999999999996
reward: -44.7011934563

time: 5
sim time: 0.3
reward: -44.5459899803

time: 6
sim time: 0.36000000000000004
reward: -44.3576317438

time: 7
sim time: 0.4200000000000001
reward: -44.1354853203

time: 8
sim time: 0.48000000000000015
reward: -43.8787819847

time: 9
sim time: 0.5400000000000001
reward: -43.586606861

time: 10
sim time: 0.6000000000000002
reward: -43.2578855321

time: 11
sim time: 0.6600000000000003
reward: -42.891367709

time: 12
sim time: 0.7200000000000003
reward: -42.485607442

time: 13
sim time: 0.7800000000000004
reward: -42.0389392069

time: 14
sim time: 0.8400000000000004
reward: -41.5494490321

time: 15
sim time: 0.9000000000000005
reward: -41.0149396059

time: 16
sim time: 0.9600000000000005
reward: -40.4328880577

time: 17
sim time: 1.0200000000000005
reward: -39.8003947334

time: 18
sim time: 1.0800000000000005
reward: -39.1141208507

time: 19
sim time: 1.1400000000000006
reward: -38.3702124726

time: 20
sim time: 1.2000000000000006
reward: -37.564207556

time: 21
sim time: 1.2600000000000007
reward: -36.6909222367

time: 22
sim time: 1.3200000000000007
reward: -35.7443121482

time: 23
sim time: 1.3800000000000008
reward: -34.7173048865

time: 24
sim time: 1.4400000000000008
reward: -33.6016003731

time: 25
sim time: 1.5000000000000009
reward: -32.3874448157

time: 26
sim time: 1.560000000000001
reward: -31.0634000676

time: 27
sim time: 1.620000000000001
reward: -29.6161787538

time: 28
sim time: 1.680000000000001
reward: -28.0307438389

time: 29
sim time: 1.740000000000001
reward: -26.291225013

time: 30
sim time: 1.8000000000000012
reward: -24.3842565648

time: 31
sim time: 1.8600000000000012
reward: -22.3098215412

time: 32
sim time: 1.9200000000000013
reward: -20.1181773563

time: 33
sim time: 1.9800000000000013
reward: -18.0583943287

time: 34
sim time: 2.0400000000000014
reward: -17.4428785738

time: 35
sim time: 2.1000000000000014
reward: -39.8871298734

time: 36
sim time: 2.1600000000000015
reward: -203363.026373
avg_episode_reward: -5532.07580624

## TODO: Plot the rewards.
plt.plot(range(len(avg_episode_rewards)), avg_episode_rewards, label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

##Plot last-episode trajectory
plt.plot(results['time'], results['x'], label='x')
plt.plot(results['time'], results['y'], label='y')
plt.plot(results['time'], results['z'], label='z')
plt.legend()
_ = plt.ylim()

Rewards seem to decrease with training from rewards vs. episodes plot, which would suggest that the code was failing. But from plot of z, and x,y with time, the algo seems to be doing what it was designed to do. Why does the reward plot show decreasing reward with training if the code is working?

Thought: maybe the velocity-dependent part of the reward function is causing the reward to decrease.

plt.plot(range(len(avg_episode_rewards[:200])), avg_episode_rewards[:200], label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

ATTEMPT 4

"""
Changed reward function in task.py to regulate denominator for small x. Also, use best score reward. 
"""

import sys
import pandas as pd
from agents.agent import DDPG
from task import Task

num_episodes = 500
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []
file_output = 'data2.txt'

'''
Leave things the same as before, just record simulation and action history for plotting
'''
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

'''
USED THIS REWARD FUNCTION in task.py:
reward = - .3*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - .3*(abs(self.sim.v[:3] - self.target_vel)).sum()/(.001 + 1.*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
'''

with open(file_output, 'w') as csvfile:
    writer = csv.writer(csvfile)
    writer.writerow(labels)

    for i_episode in range(1, num_episodes+1):
        print("")
        print("i_episode: " + str(i_episode))
        print("")
        print("")
        state = agent.reset_episode() # start a new episode
        time = 0
        total_episode_reward = 0
        count = 0
    

    
        while True:
            print("")
            print("time: " + str(time))
            print("sim time: " + str(task.sim.time))
        
            action = agent.act(state) 
            next_state, reward, done = task.step(action)
            print("reward: " + str(reward))
        
            if i_episode == num_episodes: #only write last episode with fully trained actor and critic networks
                to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
                for ii in range(len(labels)):
                    results[labels[ii]].append(to_write[ii])
                writer.writerow(to_write)
         
            total_episode_reward += reward
            count += 1
        
            agent.step(action, reward, next_state, done)
            state = next_state
            if done:
                break
            time += 1
    
        avg_episode_rewards.append(total_episode_reward/count)
        print("avg_episode_reward: " + str(total_episode_reward/count))
        sys.stdout.flush()

i_episode: 1



time: 0
sim time: 0.0
reward: -45.0117237894

time: 1
sim time: 0.06
reward: -45.0039897808

time: 2
sim time: 0.12000000000000001
reward: -44.9574595003

time: 3
sim time: 0.18
reward: -44.971650564

time: 4
sim time: 0.23999999999999996
reward: -45.0710880828

time: 5
sim time: 0.3
reward: -45.2058659167

time: 6
sim time: 0.36000000000000004
reward: -45.2804914436

time: 7
sim time: 0.4200000000000001
reward: -45.2065584539

time: 8
sim time: 0.48000000000000015
reward: -45.0054310366

time: 9
sim time: 0.5400000000000001
reward: -44.686526402

time: 10
sim time: 0.6000000000000002
reward: -44.2922293439

time: 11
sim time: 0.6600000000000003
reward: -43.9149746468

time: 12
sim time: 0.7200000000000003
reward: -43.6141395916

time: 13
sim time: 0.7800000000000004
reward: -43.2613402665

time: 14
sim time: 0.8400000000000004
reward: -42.7755881763

time: 15
sim time: 0.9000000000000005
reward: -42.2187966235

time: 16
sim time: 0.9600000000000005
reward: -41.6123469982

time: 17
sim time: 1.0200000000000005
reward: -41.0279309822

time: 18
sim time: 1.0800000000000005
reward: -40.4771340282

time: 19
sim time: 1.1400000000000006
reward: -39.9063282267

time: 20
sim time: 1.2000000000000006
reward: -39.2363629094

time: 21
sim time: 1.2600000000000007
reward: -38.5126313732

time: 22
sim time: 1.3200000000000007
reward: -37.850705667

time: 23
sim time: 1.3800000000000008
reward: -37.1886022326

time: 24
sim time: 1.4400000000000008
reward: -36.4434067484

time: 25
sim time: 1.5000000000000009
reward: -35.5649633412

time: 26
sim time: 1.560000000000001
reward: -34.6244818056

time: 27
sim time: 1.620000000000001
reward: -33.659846733

time: 28
sim time: 1.680000000000001
reward: -32.6608066519

time: 29
sim time: 1.740000000000001
reward: -31.6627683373

time: 30
sim time: 1.8000000000000012
reward: -30.6654608994

time: 31
sim time: 1.8600000000000012
reward: -29.6491847661

time: 32
sim time: 1.9200000000000013
reward: -28.5217357853

time: 33
sim time: 1.9800000000000013
reward: -27.3114616725

time: 34
sim time: 2.0400000000000014
reward: -26.1562477758

time: 35
sim time: 2.1000000000000014
reward: -25.076102207

time: 36
sim time: 2.1600000000000015
reward: -23.9926911828

time: 37
sim time: 2.2200000000000015
reward: -22.8879365013

time: 38
sim time: 2.2800000000000016
reward: -21.6894678478

time: 39
sim time: 2.3400000000000016
reward: -20.4710842568

time: 40
sim time: 2.4000000000000017
reward: -19.1914677921

time: 41
sim time: 2.4600000000000017
reward: -17.9164332398

time: 42
sim time: 2.520000000000002
reward: -16.6948546997

time: 43
sim time: 2.580000000000002
reward: -15.4376861697

time: 44
sim time: 2.640000000000002
reward: -14.2041656415

time: 45
sim time: 2.700000000000002
reward: -13.0867934763

time: 46
sim time: 2.760000000000002
reward: -12.0229894325

time: 47
sim time: 2.820000000000002
reward: -11.0536545289

time: 48
sim time: 2.880000000000002
reward: -10.3010995387

time: 49
sim time: 2.940000000000002
reward: -9.8959788022

time: 50
sim time: 3.000000000000002
reward: -10.4634677781
avg_episode_reward: -32.1097281107

i_episode: 2



time: 0
sim time: 0.0
reward: -45.0117366431

time: 1
sim time: 0.06
reward: -45.0039109455

time: 2
sim time: 0.12000000000000001
reward: -44.9574777365

time: 3
sim time: 0.18
reward: -44.9722139331

time: 4
sim time: 0.23999999999999996
reward: -45.0725870366

time: 5
sim time: 0.3
reward: -45.2091204662

time: 6
sim time: 0.36000000000000004
reward: -45.2861710272

time: 7
sim time: 0.4200000000000001
reward: -45.2147245993

time: 8
sim time: 0.48000000000000015
reward: -45.0116115825

time: 9
sim time: 0.5400000000000001
reward: -44.6938824953

time: 10
sim time: 0.6000000000000002
reward: -44.2989197567

time: 11
sim time: 0.6600000000000003
reward: -43.9200369673

time: 12
sim time: 0.7200000000000003
reward: -43.6175406938

time: 13
sim time: 0.7800000000000004
reward: -43.2665298472

time: 14
sim time: 0.8400000000000004
reward: -42.7823988066

time: 15
sim time: 0.9000000000000005
reward: -42.2202189113

time: 16
sim time: 0.9600000000000005
reward: -41.5980995502

time: 17
sim time: 1.0200000000000005
reward: -40.9149728076

time: 18
sim time: 1.0800000000000005
reward: -40.1794389939

time: 19
sim time: 1.1400000000000006
reward: -39.3960007102

time: 20
sim time: 1.2000000000000006
reward: -38.5681785164

time: 21
sim time: 1.2600000000000007
reward: -37.6998716082

time: 22
sim time: 1.3200000000000007
reward: -36.79124618

time: 23
sim time: 1.3800000000000008
reward: -35.8375942673

time: 24
sim time: 1.4400000000000008
reward: -34.8308777275

time: 25
sim time: 1.5000000000000009
reward: -33.7960577446

time: 26
sim time: 1.560000000000001
reward: -32.9421780273

time: 27
sim time: 1.620000000000001
reward: -32.1115452116

time: 28
sim time: 1.680000000000001
reward: -31.2670203288

time: 29
sim time: 1.740000000000001
reward: -30.4085652521

time: 30
sim time: 1.8000000000000012
reward: -29.5464790131

time: 31
sim time: 1.8600000000000012
reward: -28.6842924928

time: 32
sim time: 1.9200000000000013
reward: -27.8246425167

time: 33
sim time: 1.9800000000000013
reward: -26.9602844291

time: 34
sim time: 2.0400000000000014
reward: -26.0844487721

time: 35
sim time: 2.1000000000000014
reward: -25.1837101786

time: 36
sim time: 2.1600000000000015
reward: -24.2189891497

time: 37
sim time: 2.2200000000000015
reward: -23.1964061004

time: 38
sim time: 2.2800000000000016
reward: -22.1290552765

time: 39
sim time: 2.3400000000000016
reward: -21.0136277134

time: 40
sim time: 2.4000000000000017
reward: -19.8365431266

time: 41
sim time: 2.4600000000000017
reward: -18.6110760967

time: 42
sim time: 2.520000000000002
reward: -17.3881565167

time: 43
sim time: 2.580000000000002
reward: -16.1600933999

time: 44
sim time: 2.640000000000002
reward: -14.9621864537

time: 45
sim time: 2.700000000000002
reward: -13.7725009495

time: 46
sim time: 2.760000000000002
reward: -12.6808123651

time: 47
sim time: 2.820000000000002
reward: -11.9939798708

time: 48
sim time: 2.880000000000002
reward: -11.7101515474
avg_episode_reward: -32.8334319254

i_episode: 3



time: 0
sim time: 0.0
reward: -45.0014066208

time: 1
sim time: 0.06
reward: -44.9921838148

time: 2
sim time: 0.12000000000000001
reward: -44.9461289606

time: 3
sim time: 0.18
reward: -44.8594293371

time: 4
sim time: 0.23999999999999996
reward: -44.7371182761

time: 5
sim time: 0.3
reward: -44.5827344871

time: 6
sim time: 0.36000000000000004
reward: -44.3979726887

time: 7
sim time: 0.4200000000000001
reward: -44.182176698

time: 8
sim time: 0.48000000000000015
reward: -43.9326993367

time: 9
sim time: 0.5400000000000001
reward: -43.6469908434

time: 10
sim time: 0.6000000000000002
reward: -43.3243972732

time: 11
sim time: 0.6600000000000003
reward: -42.9660096751

time: 12
sim time: 0.7200000000000003
reward: -42.573008237

time: 13
sim time: 0.7800000000000004
reward: -42.1450119971

time: 14
sim time: 0.8400000000000004
reward: -41.6797283322

time: 15
sim time: 0.9000000000000005
reward: -41.1755003212

time: 16
sim time: 0.9600000000000005
reward: -40.6333309443

time: 17
sim time: 1.0200000000000005
reward: -40.0521933086

time: 18
sim time: 1.0800000000000005
reward: -39.4356486116

time: 19
sim time: 1.1400000000000006
reward: -38.7938360741

time: 20
sim time: 1.2000000000000006
reward: -38.1854300495

time: 21
sim time: 1.2600000000000007
reward: -37.5826205957

time: 22
sim time: 1.3200000000000007
reward: -36.9677379009

time: 23
sim time: 1.3800000000000008
reward: -36.3380503454

time: 24
sim time: 1.4400000000000008
reward: -35.6906150921

time: 25
sim time: 1.5000000000000009
reward: -35.0233283434

time: 26
sim time: 1.560000000000001
reward: -34.3352700111

time: 27
sim time: 1.620000000000001
reward: -33.6267334604

time: 28
sim time: 1.680000000000001
reward: -32.8989621081

time: 29
sim time: 1.740000000000001
reward: -32.1536815205

time: 30
sim time: 1.8000000000000012
reward: -31.3925410456

time: 31
sim time: 1.8600000000000012
reward: -30.6165645825

time: 32
sim time: 1.9200000000000013
reward: -29.8256826601

time: 33
sim time: 1.9800000000000013
reward: -29.0183876421

time: 34
sim time: 2.0400000000000014
reward: -28.1935825672

time: 35
sim time: 2.1000000000000014
reward: -27.3533733574

time: 36
sim time: 2.1600000000000015
reward: -26.4886824213

time: 37
sim time: 2.2200000000000015
reward: -25.5920112017

time: 38
sim time: 2.2800000000000016
reward: -24.6548735972

time: 39
sim time: 2.3400000000000016
reward: -23.6678139556

time: 40
sim time: 2.4000000000000017
reward: -22.7701038805

time: 41
sim time: 2.4600000000000017
reward: -21.9329819059

time: 42
sim time: 2.520000000000002
reward: -21.0777485672

time: 43
sim time: 2.580000000000002
reward: -20.194389235

time: 44
sim time: 2.640000000000002
reward: -19.2719058169

time: 45
sim time: 2.700000000000002
reward: -18.2995760024

time: 46
sim time: 2.760000000000002
reward: -17.2714156763

time: 47
sim time: 2.820000000000002
reward: -16.195500488

time: 48
sim time: 2.880000000000002
reward: -15.1206012517

time: 49
sim time: 2.940000000000002
reward: -14.2305629747

time: 50
sim time: 3.000000000000002
reward: -14.2112711316

time: 51
sim time: 3.0600000000000023
reward: -17.2014092815

time: 52
sim time: 3.1200000000000023
reward: -19.5091747595
avg_episode_reward: -32.5462280994

i_episode: 4



time: 0
sim time: 0.0
reward: -44.9988235026

time: 1
sim time: 0.06
reward: -44.9723450529

time: 2
sim time: 0.12000000000000001
reward: -44.9140377354

time: 3
sim time: 0.18
reward: -44.823742206

time: 4
sim time: 0.23999999999999996
reward: -44.7011899606

time: 5
sim time: 0.3
reward: -44.5460133728

time: 6
sim time: 0.36000000000000004
reward: -44.3578379998

time: 7
sim time: 0.4200000000000001
reward: -44.1367362785

time: 8
sim time: 0.48000000000000015
reward: -43.8851863284

time: 9
sim time: 0.5400000000000001
reward: -43.601502813

time: 10
sim time: 0.6000000000000002
reward: -43.2973502321

time: 11
sim time: 0.6600000000000003
reward: -42.9468456074

time: 12
sim time: 0.7200000000000003
reward: -42.5607765227

time: 13
sim time: 0.7800000000000004
reward: -42.1852922556

time: 14
sim time: 0.8400000000000004
reward: -41.840168647

time: 15
sim time: 0.9000000000000005
reward: -41.4736064558

time: 16
sim time: 0.9600000000000005
reward: -41.0230687034

time: 17
sim time: 1.0200000000000005
reward: -40.5422386442

time: 18
sim time: 1.0800000000000005
reward: -40.0796470398

time: 19
sim time: 1.1400000000000006
reward: -39.569601538

time: 20
sim time: 1.2000000000000006
reward: -38.9870228834

time: 21
sim time: 1.2600000000000007
reward: -38.4026968689

time: 22
sim time: 1.3200000000000007
reward: -37.8162625739

time: 23
sim time: 1.3800000000000008
reward: -37.1615751791

time: 24
sim time: 1.4400000000000008
reward: -36.4632701074

time: 25
sim time: 1.5000000000000009
reward: -35.7739255598

time: 26
sim time: 1.560000000000001
reward: -35.0512932314

time: 27
sim time: 1.620000000000001
reward: -34.2623110885

time: 28
sim time: 1.680000000000001
reward: -33.4599612895

time: 29
sim time: 1.740000000000001
reward: -32.6541579201

time: 30
sim time: 1.8000000000000012
reward: -31.7927264043

time: 31
sim time: 1.8600000000000012
reward: -30.8891009091

time: 32
sim time: 1.9200000000000013
reward: -29.9863471479

time: 33
sim time: 1.9800000000000013
reward: -29.0504423496

time: 34
sim time: 2.0400000000000014
reward: -28.0593244568

time: 35
sim time: 2.1000000000000014
reward: -27.060100681

time: 36
sim time: 2.1600000000000015
reward: -26.0524374644

time: 37
sim time: 2.2200000000000015
reward: -24.9853040082

time: 38
sim time: 2.2800000000000016
reward: -23.8895178778

time: 39
sim time: 2.3400000000000016
reward: -22.8084303061

time: 40
sim time: 2.4000000000000017
reward: -21.6861852885

time: 41
sim time: 2.4600000000000017
reward: -20.506829932

time: 42
sim time: 2.520000000000002
reward: -19.3511732952

time: 43
sim time: 2.580000000000002
reward: -18.2096272962

time: 44
sim time: 2.640000000000002
reward: -16.9844812463

time: 45
sim time: 2.700000000000002
reward: -15.7514064587

time: 46
sim time: 2.760000000000002
reward: -14.6209873021

time: 47
sim time: 2.820000000000002
reward: -13.490828975

time: 48
sim time: 2.880000000000002
reward: -12.2854914544

time: 49
sim time: 2.940000000000002
reward: -11.2496615031

time: 50
sim time: 3.000000000000002
reward: -10.5445560407

time: 51
sim time: 3.0600000000000023
reward: -10.0333410843

time: 52
sim time: 3.1200000000000023
reward: -10.1983263029

time: 53
sim time: 3.1800000000000024
reward: -13.0520992351
avg_episode_reward: -31.5375410114

i_episode: 5



time: 0
sim time: 0.0
reward: -45.0068275723

time: 1
sim time: 0.06
reward: -45.0273055006

time: 2
sim time: 0.12000000000000001
reward: -45.0279835361

time: 3
sim time: 0.18
reward: -45.0349051264

time: 4
sim time: 0.23999999999999996
reward: -45.0251651363

time: 5
sim time: 0.3
reward: -45.0049049207

time: 6
sim time: 0.36000000000000004
reward: -44.959815325

time: 7
sim time: 0.4200000000000001
reward: -44.8674960022

time: 8
sim time: 0.48000000000000015
reward: -44.7420911263

time: 9
sim time: 0.5400000000000001
reward: -44.6006940955

time: 10
sim time: 0.6000000000000002
reward: -44.4236965001

time: 11
sim time: 0.6600000000000003
reward: -44.2010485187

time: 12
sim time: 0.7200000000000003
reward: -43.9560303396

time: 13
sim time: 0.7800000000000004
reward: -43.6902798461

time: 14
sim time: 0.8400000000000004
reward: -43.3798920066

time: 15
sim time: 0.9000000000000005
reward: -43.0325877119

time: 16
sim time: 0.9600000000000005
reward: -42.6694001233

time: 17
sim time: 1.0200000000000005
reward: -42.2743452765

time: 18
sim time: 1.0800000000000005
reward: -41.8326141777

time: 19
sim time: 1.1400000000000006
reward: -41.366790508

time: 20
sim time: 1.2000000000000006
reward: -40.8829797144

time: 21
sim time: 1.2600000000000007
reward: -40.3554836515

time: 22
sim time: 1.3200000000000007
reward: -39.7890032427

time: 23
sim time: 1.3800000000000008
reward: -39.2083057374

time: 24
sim time: 1.4400000000000008
reward: -38.598453515

time: 25
sim time: 1.5000000000000009
reward: -37.9396953838

time: 26
sim time: 1.560000000000001
reward: -37.2571202122

time: 27
sim time: 1.620000000000001
reward: -36.561402232

time: 28
sim time: 1.680000000000001
reward: -35.8213921049

time: 29
sim time: 1.740000000000001
reward: -35.0382930576

time: 30
sim time: 1.8000000000000012
reward: -34.2462604102

time: 31
sim time: 1.8600000000000012
reward: -33.4312094639

time: 32
sim time: 1.9200000000000013
reward: -32.5618075122

time: 33
sim time: 1.9800000000000013
reward: -31.6665691255

time: 34
sim time: 2.0400000000000014
reward: -30.7690342293

time: 35
sim time: 2.1000000000000014
reward: -29.830276212

time: 36
sim time: 2.1600000000000015
reward: -28.8386592446

time: 37
sim time: 2.2200000000000015
reward: -27.8442626649

time: 38
sim time: 2.2800000000000016
reward: -26.8434080694

time: 39
sim time: 2.3400000000000016
reward: -25.7839448975

time: 40
sim time: 2.4000000000000017
reward: -24.6869045724

time: 41
sim time: 2.4600000000000017
reward: -23.6065758133

time: 42
sim time: 2.520000000000002
reward: -22.5063861545

time: 43
sim time: 2.580000000000002
reward: -21.3405532119

time: 44
sim time: 2.640000000000002
reward: -20.1683600794

time: 45
sim time: 2.700000000000002
reward: -19.0297385676

time: 46
sim time: 2.760000000000002
reward: -17.855894387

time: 47
sim time: 2.820000000000002
reward: -16.6218369186

time: 48
sim time: 2.880000000000002
reward: -15.4338146215

time: 49
sim time: 2.940000000000002
reward: -14.320992299

time: 50
sim time: 3.000000000000002
reward: -13.1912832754

time: 51
sim time: 3.0600000000000023
reward: -12.0564384986

time: 52
sim time: 3.1200000000000023
reward: -11.10278731

time: 53
sim time: 3.1800000000000024
reward: -10.5096319218

time: 54
sim time: 3.2400000000000024
reward: -10.60072885

time: 55
sim time: 3.3000000000000025
reward: -11.0959414323
avg_episode_reward: -32.634273249

i_episode: 6



time: 0
sim time: 0.0
reward: -45.0068536414

time: 1
sim time: 0.06
reward: -45.0275851631

time: 2
sim time: 0.12000000000000001
reward: -45.0288855165

time: 3
sim time: 0.18
reward: -45.040588491

time: 4
sim time: 0.23999999999999996
reward: -44.9863064034

time: 5
sim time: 0.3
reward: -44.8624246704

time: 6
sim time: 0.36000000000000004
reward: -44.7099732836

time: 7
sim time: 0.4200000000000001
reward: -44.5217067616

time: 8
sim time: 0.48000000000000015
reward: -44.3652081414

time: 9
sim time: 0.5400000000000001
reward: -44.2346646341

time: 10
sim time: 0.6000000000000002
reward: -44.1479178729

time: 11
sim time: 0.6600000000000003
reward: -44.0683239376

time: 12
sim time: 0.7200000000000003
reward: -44.007669139

time: 13
sim time: 0.7800000000000004
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sim time: 1.680000000000001
reward: -35.8040599279

time: 29
sim time: 1.740000000000001
reward: -35.020200477

time: 30
sim time: 1.8000000000000012
reward: -34.2273341283

time: 31
sim time: 1.8600000000000012
reward: -33.4118007581

time: 32
sim time: 1.9200000000000013
reward: -32.5419024189

time: 33
sim time: 1.9800000000000013
reward: -31.6457007046

time: 34
sim time: 2.0400000000000014
reward: -30.7474155785

time: 35
sim time: 2.1000000000000014
reward: -29.8084600165

time: 36
sim time: 2.1600000000000015
reward: -28.8161859124

time: 37
sim time: 2.2200000000000015
reward: -27.820644818

time: 38
sim time: 2.2800000000000016
reward: -26.819447573

time: 39
sim time: 2.3400000000000016
reward: -25.7600671359

time: 40
sim time: 2.4000000000000017
reward: -24.6619885044

time: 41
sim time: 2.4600000000000017
reward: -23.5806226696

time: 42
sim time: 2.520000000000002
reward: -22.4808347785

time: 43
sim time: 2.580000000000002
reward: -21.3152792077

time: 44
sim time: 2.640000000000002
reward: -20.1418316598

time: 45
sim time: 2.700000000000002
reward: -19.0024916488

time: 46
sim time: 2.760000000000002
reward: -17.8297919688

time: 47
sim time: 2.820000000000002
reward: -16.5965719984

time: 48
sim time: 2.880000000000002
reward: -15.4090548927

time: 49
sim time: 2.940000000000002
reward: -14.2976292919

time: 50
sim time: 3.000000000000002
reward: -13.1671611931

time: 51
sim time: 3.0600000000000023
reward: -12.0296493949

time: 52
sim time: 3.1200000000000023
reward: -11.104552296

time: 53
sim time: 3.1800000000000024
reward: -10.5232621646

time: 54
sim time: 3.2400000000000024
reward: -10.3195096905

time: 55
sim time: 3.3000000000000025
reward: -10.3486070812
avg_episode_reward: -32.6023857158

i_episode: 498



time: 0
sim time: 0.0
reward: -45.0068301118

time: 1
sim time: 0.06
reward: -45.0273496233

time: 2
sim time: 0.12000000000000001
reward: -45.0282450295

time: 3
sim time: 0.18
reward: -45.0349070372

time: 4
sim time: 0.23999999999999996
reward: -45.0235785581

time: 5
sim time: 0.3
reward: -45.0013729827

time: 6
sim time: 0.36000000000000004
reward: -44.9548137571

time: 7
sim time: 0.4200000000000001
reward: -44.8611634229

time: 8
sim time: 0.48000000000000015
reward: -44.7340085369

time: 9
sim time: 0.5400000000000001
reward: -44.5909001308

time: 10
sim time: 0.6000000000000002
reward: -44.4125885206

time: 11
sim time: 0.6600000000000003
reward: -44.1884546385

time: 12
sim time: 0.7200000000000003
reward: -43.9416510759

time: 13
sim time: 0.7800000000000004
reward: -43.6743724024

time: 14
sim time: 0.8400000000000004
reward: -43.3626448789

time: 15
sim time: 0.9000000000000005
reward: -43.013721475

time: 16
sim time: 0.9600000000000005
reward: -42.6488627597

time: 17
sim time: 1.0200000000000005
reward: -42.2524522502

time: 18
sim time: 1.0800000000000005
reward: -41.8092987375

time: 19
sim time: 1.1400000000000006
reward: -41.3417886423

time: 20
sim time: 1.2000000000000006
reward: -40.8564942596

time: 21
sim time: 1.2600000000000007
reward: -40.3277199135

time: 22
sim time: 1.3200000000000007
reward: -39.7596629633

time: 23
sim time: 1.3800000000000008
reward: -39.1773354495

time: 24
sim time: 1.4400000000000008
reward: -38.5662535221

time: 25
sim time: 1.5000000000000009
reward: -37.9061833207

time: 26
sim time: 1.560000000000001
reward: -37.2219100654

time: 27
sim time: 1.620000000000001
reward: -36.5247369821

time: 28
sim time: 1.680000000000001
reward: -35.7836026622

time: 29
sim time: 1.740000000000001
reward: -34.9989655554

time: 30
sim time: 1.8000000000000012
reward: -34.2052576253

time: 31
sim time: 1.8600000000000012
reward: -33.3891711848

time: 32
sim time: 1.9200000000000013
reward: -32.5187122511

time: 33
sim time: 1.9800000000000013
reward: -31.621593955

time: 34
sim time: 2.0400000000000014
reward: -30.7225118337

time: 35
sim time: 2.1000000000000014
reward: -29.7831191537

time: 36
sim time: 2.1600000000000015
reward: -28.7901773911

time: 37
sim time: 2.2200000000000015
reward: -27.7936964842

time: 38
sim time: 2.2800000000000016
reward: -26.7920089963

time: 39
sim time: 2.3400000000000016
reward: -25.7323781207

time: 40
sim time: 2.4000000000000017
reward: -24.6333917278

time: 41
sim time: 2.4600000000000017
reward: -23.5511279424

time: 42
sim time: 2.520000000000002
reward: -22.451376844

time: 43
sim time: 2.580000000000002
reward: -21.285799735

time: 44
sim time: 2.640000000000002
reward: -20.1112822203

time: 45
sim time: 2.700000000000002
reward: -18.9713802483

time: 46
sim time: 2.760000000000002
reward: -17.7994161832

time: 47
sim time: 2.820000000000002
reward: -16.5663881455

time: 48
sim time: 2.880000000000002
reward: -15.3780748708

time: 49
sim time: 2.940000000000002
reward: -14.2675455639

time: 50
sim time: 3.000000000000002
reward: -13.1400652693

time: 51
sim time: 3.0600000000000023
reward: -12.0040410186

time: 52
sim time: 3.1200000000000023
reward: -11.0808277745

time: 53
sim time: 3.1800000000000024
reward: -10.5099175503

time: 54
sim time: 3.2400000000000024
reward: -10.3317779592

time: 55
sim time: 3.3000000000000025
reward: -10.352648533
avg_episode_reward: -32.5859921044

i_episode: 499



time: 0
sim time: 0.0
reward: -45.006846727

time: 1
sim time: 0.06
reward: -45.0276139144

time: 2
sim time: 0.12000000000000001
reward: -45.0289058887

time: 3
sim time: 0.18
reward: -45.0357794828

time: 4
sim time: 0.23999999999999996
reward: -45.0243557264

time: 5
sim time: 0.3
reward: -45.0019537919

time: 6
sim time: 0.36000000000000004
reward: -44.9551491481

time: 7
sim time: 0.4200000000000001
reward: -44.8612428839

time: 8
sim time: 0.48000000000000015
reward: -44.7338318686

time: 9
sim time: 0.5400000000000001
reward: -44.5904716925

time: 10
sim time: 0.6000000000000002
reward: -44.4119341506

time: 11
sim time: 0.6600000000000003
reward: -44.1875370269

time: 12
sim time: 0.7200000000000003
reward: -43.9404154173

time: 13
sim time: 0.7800000000000004
reward: -43.6729108179

time: 14
sim time: 0.8400000000000004
reward: -43.3610164726

time: 15
sim time: 0.9000000000000005
reward: -43.011793281

time: 16
sim time: 0.9600000000000005
reward: -42.6466231661

time: 17
sim time: 1.0200000000000005
reward: -42.2500623801

time: 18
sim time: 1.0800000000000005
reward: -41.806708441

time: 19
sim time: 1.1400000000000006
reward: -41.3388435624

time: 20
sim time: 1.2000000000000006
reward: -40.8533108127

time: 21
sim time: 1.2600000000000007
reward: -40.324414636

time: 22
sim time: 1.3200000000000007
reward: -39.7560708445

time: 23
sim time: 1.3800000000000008
reward: -39.1734080236

time: 24
sim time: 1.4400000000000008
reward: -38.5621839618

time: 25
sim time: 1.5000000000000009
reward: -37.9019367444

time: 26
sim time: 1.560000000000001
reward: -37.2172910912

time: 27
sim time: 1.620000000000001
reward: -36.5198751665

time: 28
sim time: 1.680000000000001
reward: -35.7786696338

time: 29
sim time: 1.740000000000001
reward: -34.9937408014

time: 30
sim time: 1.8000000000000012
reward: -34.1996562757

time: 31
sim time: 1.8600000000000012
reward: -33.3834526105

time: 32
sim time: 1.9200000000000013
reward: -32.5128865244

time: 33
sim time: 1.9800000000000013
reward: -31.6154487536

time: 34
sim time: 2.0400000000000014
reward: -30.7161288431

time: 35
sim time: 2.1000000000000014
reward: -29.776658932

time: 36
sim time: 2.1600000000000015
reward: -28.783591612

time: 37
sim time: 2.2200000000000015
reward: -27.7869598579

time: 38
sim time: 2.2800000000000016
reward: -26.7850794914

time: 39
sim time: 2.3400000000000016
reward: -25.7251989865

time: 40
sim time: 2.4000000000000017
reward: -24.6261814742

time: 41
sim time: 2.4600000000000017
reward: -23.543933404

time: 42
sim time: 2.520000000000002
reward: -22.443771221

time: 43
sim time: 2.580000000000002
reward: -21.277803405

time: 44
sim time: 2.640000000000002
reward: -20.1036484499

time: 45
sim time: 2.700000000000002
reward: -18.9639531205

time: 46
sim time: 2.760000000000002
reward: -17.7913492627

time: 47
sim time: 2.820000000000002
reward: -16.5581589649

time: 48
sim time: 2.880000000000002
reward: -15.3708729439

time: 49
sim time: 2.940000000000002
reward: -14.2605755577

time: 50
sim time: 3.000000000000002
reward: -13.1320467195

time: 51
sim time: 3.0600000000000023
reward: -11.9972982352

time: 52
sim time: 3.1200000000000023
reward: -11.077909606

time: 53
sim time: 3.1800000000000024
reward: -10.5089448451

time: 54
sim time: 3.2400000000000024
reward: -10.3303957581

time: 55
sim time: 3.3000000000000025
reward: -10.3480415817
avg_episode_reward: -32.5820507856

i_episode: 500



time: 0
sim time: 0.0
reward: -45.0068536022

time: 1
sim time: 0.06
reward: -45.0277244084

time: 2
sim time: 0.12000000000000001
reward: -45.0374879548

time: 3
sim time: 0.18
reward: -45.0852053261

time: 4
sim time: 0.23999999999999996
reward: -45.1472805109

time: 5
sim time: 0.3
reward: -45.2343745406

time: 6
sim time: 0.36000000000000004
reward: -45.3173368857

time: 7
sim time: 0.4200000000000001
reward: -45.3905642857

time: 8
sim time: 0.48000000000000015
reward: -45.4971889684

time: 9
sim time: 0.5400000000000001
reward: -45.5743606305

time: 10
sim time: 0.6000000000000002
reward: -45.5510288536

time: 11
sim time: 0.6600000000000003
reward: -45.4837728535

time: 12
sim time: 0.7200000000000003
reward: -45.3869411311

time: 13
sim time: 0.7800000000000004
reward: -45.2108060177

time: 14
sim time: 0.8400000000000004
reward: -44.957372377

time: 15
sim time: 0.9000000000000005
reward: -44.6277632115

time: 16
sim time: 0.9600000000000005
reward: -44.2323608773

time: 17
sim time: 1.0200000000000005
reward: -43.8134172017

time: 18
sim time: 1.0800000000000005
reward: -43.3459450447

time: 19
sim time: 1.1400000000000006
reward: -42.7817308528

time: 20
sim time: 1.2000000000000006
reward: -42.1683630891

time: 21
sim time: 1.2600000000000007
reward: -41.5653075972

time: 22
sim time: 1.3200000000000007
reward: -40.9147210693

time: 23
sim time: 1.3800000000000008
reward: -40.1884688647

time: 24
sim time: 1.4400000000000008
reward: -39.4551460464

time: 25
sim time: 1.5000000000000009
reward: -38.7368668783

time: 26
sim time: 1.560000000000001
reward: -37.9734098962

time: 27
sim time: 1.620000000000001
reward: -37.1731271891

time: 28
sim time: 1.680000000000001
reward: -36.3909669142

time: 29
sim time: 1.740000000000001
reward: -35.6443064706

time: 30
sim time: 1.8000000000000012
reward: -34.8890878264

time: 31
sim time: 1.8600000000000012
reward: -34.1281321455

time: 32
sim time: 1.9200000000000013
reward: -33.3829493998

time: 33
sim time: 1.9800000000000013
reward: -32.6694088866

time: 34
sim time: 2.0400000000000014
reward: -31.960526304

time: 35
sim time: 2.1000000000000014
reward: -31.2165551252

time: 36
sim time: 2.1600000000000015
reward: -30.4793338872

time: 37
sim time: 2.2200000000000015
reward: -29.794817289

time: 38
sim time: 2.2800000000000016
reward: -29.0693809815

time: 39
sim time: 2.3400000000000016
reward: -28.2973106968

time: 40
sim time: 2.4000000000000017
reward: -27.5458754342

time: 41
sim time: 2.4600000000000017
reward: -26.817555786

time: 42
sim time: 2.520000000000002
reward: -26.017730191

time: 43
sim time: 2.580000000000002
reward: -25.199378208

time: 44
sim time: 2.640000000000002
reward: -24.4063653871

time: 45
sim time: 2.700000000000002
reward: -23.5627714837

time: 46
sim time: 2.760000000000002
reward: -22.680351063

time: 47
sim time: 2.820000000000002
reward: -21.8122532535

time: 48
sim time: 2.880000000000002
reward: -20.9344261522

time: 49
sim time: 2.940000000000002
reward: -19.9721127465

time: 50
sim time: 3.000000000000002
reward: -19.0180604823

time: 51
sim time: 3.0600000000000023
reward: -18.1153999926

time: 52
sim time: 3.1200000000000023
reward: -17.1400857739

time: 53
sim time: 3.1800000000000024
reward: -16.095163918

time: 54
sim time: 3.2400000000000024
reward: -15.1590037701

time: 55
sim time: 3.3000000000000025
reward: -14.2807406564

time: 56
sim time: 3.3600000000000025
reward: -13.2974485978

time: 57
sim time: 3.4200000000000026
reward: -13.0611985966
avg_episode_reward: -33.9469590273

##Plot last-episode trajectory
plt.plot(results['time'], results['x'], label='x')
plt.plot(results['time'], results['y'], label='y')
plt.plot(results['time'], results['z'], label='z')
plt.legend()
_ = plt.ylim()

plt.plot(range(len(avg_episode_rewards)), avg_episode_rewards, label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

ATTEMPT 5

'''
Change networks in actor and critic  
'''



import sys
import pandas as pd
from agents.agent import DDPG
from task import Task

num_episodes = 500
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []
file_output = 'data2.txt'

'''
Leave things the same as before, just record simulation and action history for plotting
'''
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

'''
USED THIS REWARD FUNCTION in task.py:
alpha = .3, beta = .3, gamma = 1.

reward = - alpha*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - beta*(abs(self.sim.v[:3] - self.target_vel)).sum()/(1 + gamma*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
'''

for i_episode in range(1, num_episodes+1):
    print("")
    print("i_episode: " + str(i_episode))
    print("")
    print("")
    state = agent.reset_episode() # start a new episode
    time = 0
    total_episode_reward = 0
    count = 0
    
    with open(file_output, 'w') as csvfile:
        writer = csv.writer(csvfile)
        writer.writerow(labels)
    
        while True:
            print("")
            print("time: " + str(time))
            print("sim time: " + str(task.sim.time))
        
            action = agent.act(state) 
            next_state, reward, done = task.step(action)
            print("reward: " + str(reward))
        
            if i_episode == num_episodes: #only write last episode with fully trained actor and critic networks
                to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
                for ii in range(len(labels)):
                    results[labels[ii]].append(to_write[ii])
                writer.writerow(to_write)
         
            total_episode_reward += reward
            count += 1
        
            agent.step(action, reward, next_state, done)
            state = next_state
            if done:
                break
            time += 1
    
    avg_episode_rewards.append(total_episode_reward/count)
    print("avg_episode_reward: " + str(total_episode_reward/count))
    sys.stdout.flush()

i_episode: 1



time: 0
sim time: 0.0
reward: -45.0334530514

time: 1
sim time: 0.06
reward: -45.1392297808

time: 2
sim time: 0.12000000000000001
reward: -45.2417690899

time: 3
sim time: 0.18
reward: -45.3580367179

time: 4
sim time: 0.23999999999999996
reward: -45.4964357114

time: 5
sim time: 0.3
reward: -45.596081494

time: 6
sim time: 0.36000000000000004
reward: -45.6217217367

time: 7
sim time: 0.4200000000000001
reward: -45.5833104421

time: 8
sim time: 0.48000000000000015
reward: -45.582034671

time: 9
sim time: 0.5400000000000001
reward: -45.6857636943

time: 10
sim time: 0.6000000000000002
reward: -45.836528169

time: 11
sim time: 0.6600000000000003
reward: -46.025229358

time: 12
sim time: 0.7200000000000003
reward: -46.2940683315

time: 13
sim time: 0.7800000000000004
reward: -46.5503780194

time: 14
sim time: 0.8400000000000004
reward: -46.785965834

time: 15
sim time: 0.9000000000000005
reward: -47.0890130801

time: 16
sim time: 0.9600000000000005
reward: -47.4457174662

time: 17
sim time: 1.0200000000000005
reward: -47.7688937374

time: 18
sim time: 1.0800000000000005
reward: -48.0990015144

time: 19
sim time: 1.1400000000000006
reward: -48.5099885456

time: 20
sim time: 1.2000000000000006
reward: -48.9376224865

time: 21
sim time: 1.2600000000000007
reward: -49.3295855972

time: 22
sim time: 1.3200000000000007
reward: -49.7605673587

time: 23
sim time: 1.3800000000000008
reward: -50.2629995249

time: 24
sim time: 1.4400000000000008
reward: -50.751051956

time: 25
sim time: 1.5000000000000009
reward: -51.2168600129

time: 26
sim time: 1.560000000000001
reward: -51.7460800322

time: 27
sim time: 1.620000000000001
reward: -52.3222582231

time: 28
sim time: 1.680000000000001
reward: -52.8649527818

time: 29
sim time: 1.740000000000001
reward: -53.4102971895

time: 30
sim time: 1.8000000000000012
reward: -54.0287815621

time: 31
sim time: 1.8600000000000012
reward: -54.6630220556

time: 32
sim time: 1.9200000000000013
reward: -55.2592991089

time: 33
sim time: 1.9800000000000013
reward: -55.8885807992

time: 34
sim time: 2.0400000000000014
reward: -56.5820969208

time: 35
sim time: 2.1000000000000014
reward: -57.2631012563

time: 36
sim time: 2.1600000000000015
reward: -57.9173863535

time: 37
sim time: 2.2200000000000015
reward: -58.6284667439

time: 38
sim time: 2.2800000000000016
reward: -59.3820378024

time: 39
sim time: 2.3400000000000016
reward: -60.1018195681

time: 40
sim time: 2.4000000000000017
reward: -60.8211420833

time: 41
sim time: 2.4600000000000017
reward: -61.6056471202

time: 42
sim time: 2.520000000000002
reward: -62.4036814268

time: 43
sim time: 2.580000000000002
reward: -63.1619389687

time: 44
sim time: 2.640000000000002
reward: -63.9508932578

time: 45
sim time: 2.700000000000002
reward: -64.7955939294

time: 46
sim time: 2.760000000000002
reward: -65.6257561495

time: 47
sim time: 2.820000000000002
reward: -66.4289532076

time: 48
sim time: 2.880000000000002
reward: -67.2847738907

time: 49
sim time: 2.940000000000002
reward: -68.1757063725

time: 50
sim time: 3.000000000000002
reward: -69.030653233

time: 51
sim time: 3.0600000000000023
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time: 57
sim time: 3.4200000000000026
reward: -13.4344158602
avg_episode_reward: -34.6087072942

i_episode: 497



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sim time: 2.580000000000002
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sim time: 2.640000000000002
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sim time: 2.700000000000002
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time: 46
sim time: 2.760000000000002
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sim time: 2.820000000000002
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sim time: 2.880000000000002
reward: -17.4582526927

time: 49
sim time: 2.940000000000002
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time: 50
sim time: 3.000000000000002
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time: 51
sim time: 3.0600000000000023
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sim time: 3.1200000000000023
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time: 53
sim time: 3.1800000000000024
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time: 54
sim time: 3.2400000000000024
reward: -11.6457050081

time: 55
sim time: 3.3000000000000025
reward: -10.9608491043
avg_episode_reward: -33.6303515402

i_episode: 498



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time: 5
sim time: 0.3
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sim time: 0.36000000000000004
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sim time: 1.0200000000000005
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sim time: 1.2000000000000006
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sim time: 1.2600000000000007
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sim time: 1.3800000000000008
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sim time: 1.4400000000000008
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sim time: 1.5000000000000009
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time: 26
sim time: 1.560000000000001
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time: 27
sim time: 1.620000000000001
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time: 29
sim time: 1.740000000000001
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time: 30
sim time: 1.8000000000000012
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time: 31
sim time: 1.8600000000000012
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time: 32
sim time: 1.9200000000000013
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time: 33
sim time: 1.9800000000000013
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time: 34
sim time: 2.0400000000000014
reward: -37.0358781754

time: 35
sim time: 2.1000000000000014
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time: 36
sim time: 2.1600000000000015
reward: -34.9676512423

time: 37
sim time: 2.2200000000000015
reward: -33.8199226839

time: 38
sim time: 2.2800000000000016
reward: -32.6131811536

time: 39
sim time: 2.3400000000000016
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time: 40
sim time: 2.4000000000000017
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sim time: 2.4600000000000017
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time: 42
sim time: 2.520000000000002
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time: 43
sim time: 2.580000000000002
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time: 44
sim time: 2.640000000000002
reward: -23.996507

time: 45
sim time: 2.700000000000002
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time: 46
sim time: 2.760000000000002
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time: 47
sim time: 2.820000000000002
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time: 48
sim time: 2.880000000000002
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time: 49
sim time: 2.940000000000002
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time: 50
sim time: 3.000000000000002
reward: -14.2120117881

time: 51
sim time: 3.0600000000000023
reward: -13.0955671968
avg_episode_reward: -37.3691734207

i_episode: 499



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sim time: 0.0
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time: 3
sim time: 0.18
reward: -45.4648571945

time: 4
sim time: 0.23999999999999996
reward: -45.5620243231

time: 5
sim time: 0.3
reward: -45.4967372956

time: 6
sim time: 0.36000000000000004
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time: 7
sim time: 0.4200000000000001
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time: 8
sim time: 0.48000000000000015
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time: 9
sim time: 0.5400000000000001
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time: 10
sim time: 0.6000000000000002
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time: 11
sim time: 0.6600000000000003
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time: 12
sim time: 0.7200000000000003
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time: 13
sim time: 0.7800000000000004
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sim time: 0.9600000000000005
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sim time: 1.0200000000000005
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sim time: 1.0800000000000005
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sim time: 1.1400000000000006
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time: 20
sim time: 1.2000000000000006
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time: 21
sim time: 1.2600000000000007
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time: 22
sim time: 1.3200000000000007
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sim time: 1.3800000000000008
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time: 24
sim time: 1.4400000000000008
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time: 25
sim time: 1.5000000000000009
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time: 26
sim time: 1.560000000000001
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time: 27
sim time: 1.620000000000001
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time: 28
sim time: 1.680000000000001
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time: 29
sim time: 1.740000000000001
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time: 30
sim time: 1.8000000000000012
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time: 31
sim time: 1.8600000000000012
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time: 32
sim time: 1.9200000000000013
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time: 33
sim time: 1.9800000000000013
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time: 34
sim time: 2.0400000000000014
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time: 35
sim time: 2.1000000000000014
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time: 36
sim time: 2.1600000000000015
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time: 37
sim time: 2.2200000000000015
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time: 38
sim time: 2.2800000000000016
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time: 39
sim time: 2.3400000000000016
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time: 40
sim time: 2.4000000000000017
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time: 41
sim time: 2.4600000000000017
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time: 42
sim time: 2.520000000000002
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time: 43
sim time: 2.580000000000002
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time: 44
sim time: 2.640000000000002
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time: 45
sim time: 2.700000000000002
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time: 46
sim time: 2.760000000000002
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time: 47
sim time: 2.820000000000002
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time: 48
sim time: 2.880000000000002
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time: 49
sim time: 2.940000000000002
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time: 50
sim time: 3.000000000000002
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time: 51
sim time: 3.0600000000000023
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time: 52
sim time: 3.1200000000000023
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time: 53
sim time: 3.1800000000000024
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time: 54
sim time: 3.2400000000000024
reward: -14.3846988275

time: 55
sim time: 3.3000000000000025
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time: 56
sim time: 3.3600000000000025
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time: 57
sim time: 3.4200000000000026
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time: 58
sim time: 3.4800000000000026
reward: -11.3662763529

time: 59
sim time: 3.5400000000000027
reward: -10.7708967917
avg_episode_reward: -33.2065084436

i_episode: 500



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sim time: 0.0
reward: -45.0504124508

time: 1
sim time: 0.06
reward: -45.1922724449

time: 2
sim time: 0.12000000000000001
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time: 3
sim time: 0.18
reward: -45.4278865849

time: 4
sim time: 0.23999999999999996
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time: 5
sim time: 0.3
reward: -45.592049991

time: 6
sim time: 0.36000000000000004
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time: 7
sim time: 0.4200000000000001
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time: 8
sim time: 0.48000000000000015
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time: 9
sim time: 0.5400000000000001
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time: 10
sim time: 0.6000000000000002
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time: 11
sim time: 0.6600000000000003
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time: 12
sim time: 0.7200000000000003
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time: 13
sim time: 0.7800000000000004
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time: 14
sim time: 0.8400000000000004
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time: 15
sim time: 0.9000000000000005
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time: 16
sim time: 0.9600000000000005
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time: 17
sim time: 1.0200000000000005
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time: 18
sim time: 1.0800000000000005
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time: 19
sim time: 1.1400000000000006
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time: 20
sim time: 1.2000000000000006
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time: 21
sim time: 1.2600000000000007
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time: 22
sim time: 1.3200000000000007
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time: 23
sim time: 1.3800000000000008
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time: 24
sim time: 1.4400000000000008
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time: 25
sim time: 1.5000000000000009
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time: 26
sim time: 1.560000000000001
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time: 27
sim time: 1.620000000000001
reward: -44.2303578408

time: 28
sim time: 1.680000000000001
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time: 29
sim time: 1.740000000000001
reward: -43.5960339417

time: 30
sim time: 1.8000000000000012
reward: -43.1628471238

time: 31
sim time: 1.8600000000000012
reward: -42.6211470636

time: 32
sim time: 1.9200000000000013
reward: -42.1715148016

time: 33
sim time: 1.9800000000000013
reward: -41.7674082496

time: 34
sim time: 2.0400000000000014
reward: -41.2186292047

time: 35
sim time: 2.1000000000000014
reward: -40.5730625773

time: 36
sim time: 2.1600000000000015
reward: -40.0616387297

time: 37
sim time: 2.2200000000000015
reward: -39.5700531696

time: 38
sim time: 2.2800000000000016
reward: -38.9423139257

time: 39
sim time: 2.3400000000000016
reward: -38.2450932918

time: 40
sim time: 2.4000000000000017
reward: -37.6778028608

time: 41
sim time: 2.4600000000000017
reward: -37.0867947993

time: 42
sim time: 2.520000000000002
reward: -36.3527287594

time: 43
sim time: 2.580000000000002
reward: -35.6134561873

time: 44
sim time: 2.640000000000002
reward: -34.9300858134

time: 45
sim time: 2.700000000000002
reward: -34.1900305691

time: 46
sim time: 2.760000000000002
reward: -33.3374985769

time: 47
sim time: 2.820000000000002
reward: -32.5223729204

time: 48
sim time: 2.880000000000002
reward: -31.6909524888

time: 49
sim time: 2.940000000000002
reward: -30.7954722382

time: 50
sim time: 3.000000000000002
reward: -29.8622189389

time: 51
sim time: 3.0600000000000023
reward: -28.9408696458

time: 52
sim time: 3.1200000000000023
reward: -27.9768051916

time: 53
sim time: 3.1800000000000024
reward: -26.9648865095

time: 54
sim time: 3.2400000000000024
reward: -25.948621461

time: 55
sim time: 3.3000000000000025
reward: -24.8800025262

time: 56
sim time: 3.3600000000000025
reward: -23.7923662541

time: 57
sim time: 3.4200000000000026
reward: -22.666306167

time: 58
sim time: 3.4800000000000026
reward: -21.4907861263

time: 59
sim time: 3.5400000000000027
reward: -20.2117518433

time: 60
sim time: 3.6000000000000028
reward: -18.9632254066

time: 61
sim time: 3.660000000000003
reward: -17.6876247868

time: 62
sim time: 3.720000000000003
reward: -16.3147556087

time: 63
sim time: 3.780000000000003
reward: -14.852932606

time: 64
sim time: 3.840000000000003
reward: -13.8370259815
avg_episode_reward: -37.688837601

##Plot last-episode trajectory
plt.plot(results['time'], results['x'], label='x')
plt.plot(results['time'], results['y'], label='y')
plt.plot(results['time'], results['z'], label='z')
plt.legend()
_ = plt.ylim()

plt.plot(range(len(avg_episode_rewards)), avg_episode_rewards, label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

ATTEMPT 6

'''
Adjusted networks.
'''
'''
Change networks in actor and critic; see agent_new.py 
'''

"""

"""

import sys
import pandas as pd
from agents.agent_new import DDPG
from task import Task

num_episodes = 500
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []
file_output = 'data2.txt'

'''
Leave things the same as before, just record simulation and action history for plotting
'''
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

'''
USED THIS REWARD FUNCTION in task.py:
alpha = .3, beta = .3, gamma = 1.

reward = - alpha*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - beta*(abs(self.sim.v[:3] - self.target_vel)).sum()/(1 + gamma*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
'''

for i_episode in range(1, num_episodes+1):
    print("")
    print("i_episode: " + str(i_episode))
    print("")
    print("")
    state = agent.reset_episode() # start a new episode
    time = 0
    total_episode_reward = 0
    count = 0
    
    with open(file_output, 'w') as csvfile:
        writer = csv.writer(csvfile)
        writer.writerow(labels)
    
        while True:
            print("")
            print("time: " + str(time))
            print("sim time: " + str(task.sim.time))
        
            action = agent.act(state) 
            next_state, reward, done = task.step(action)
            print("reward: " + str(reward))
        
            if i_episode == num_episodes: #only write last episode with fully trained actor and critic networks
                to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
                for ii in range(len(labels)):
                    results[labels[ii]].append(to_write[ii])
                writer.writerow(to_write)
         
            total_episode_reward += reward
            count += 1
        
            agent.step(action, reward, next_state, done)
            state = next_state
            if done:
                break
            time += 1
    
    avg_episode_rewards.append(total_episode_reward/count)
    print("avg_episode_reward: " + str(total_episode_reward/count))
    sys.stdout.flush()

i_episode: 1



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sim time: 0.0
reward: -45.0320501505

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sim time: 0.06
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time: 2
sim time: 0.12000000000000001
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sim time: 0.18
reward: -45.51032403

time: 4
sim time: 0.23999999999999996
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time: 5
sim time: 0.3
reward: -45.9971715303

time: 6
sim time: 0.36000000000000004
reward: -46.1074508817

time: 7
sim time: 0.4200000000000001
reward: -46.1834463835

time: 8
sim time: 0.48000000000000015
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sim time: 0.5400000000000001
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time: 10
sim time: 0.6000000000000002
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sim time: 0.6600000000000003
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time: 12
sim time: 0.7200000000000003
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time: 13
sim time: 0.7800000000000004
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sim time: 0.8400000000000004
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sim time: 0.9000000000000005
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sim time: 0.9600000000000005
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sim time: 1.0200000000000005
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sim time: 1.0800000000000005
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sim time: 1.1400000000000006
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sim time: 1.2000000000000006
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sim time: 1.2600000000000007
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sim time: 1.3200000000000007
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time: 23
sim time: 1.3800000000000008
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sim time: 1.4400000000000008
reward: -43.4482287417

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sim time: 1.5000000000000009
reward: -42.8341329025

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sim time: 1.560000000000001
reward: -42.0767297219

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sim time: 1.620000000000001
reward: -41.1718671809

time: 28
sim time: 1.680000000000001
reward: -40.2527833166

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sim time: 1.740000000000001
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time: 30
sim time: 1.8000000000000012
reward: -38.4045452105

time: 31
sim time: 1.8600000000000012
reward: -37.2795552885

time: 32
sim time: 1.9200000000000013
reward: -36.1314629049

time: 33
sim time: 1.9800000000000013
reward: -34.9067902393

time: 34
sim time: 2.0400000000000014
reward: -33.6792218538

time: 35
sim time: 2.1000000000000014
reward: -32.4152629816

time: 36
sim time: 2.1600000000000015
reward: -31.0591511084

time: 37
sim time: 2.2200000000000015
reward: -29.5849101399

time: 38
sim time: 2.2800000000000016
reward: -28.1220740006

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sim time: 2.3400000000000016
reward: -26.6537740737

time: 40
sim time: 2.4000000000000017
reward: -25.3082443112

time: 41
sim time: 2.4600000000000017
reward: -24.076242686

time: 42
sim time: 2.520000000000002
reward: -22.7794195216

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sim time: 2.580000000000002
reward: -21.5382802932

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sim time: 2.640000000000002
reward: -20.3719889587

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sim time: 2.700000000000002
reward: -19.3053735423

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sim time: 2.760000000000002
reward: -18.1612090797

time: 47
sim time: 2.820000000000002
reward: -16.9383200982

time: 48
sim time: 2.880000000000002
reward: -15.7067760345

time: 49
sim time: 2.940000000000002
reward: -14.4511348265

time: 50
sim time: 3.000000000000002
reward: -13.2362532105

time: 51
sim time: 3.0600000000000023
reward: -12.1729967259

time: 52
sim time: 3.1200000000000023
reward: -11.5532997231
avg_episode_reward: -35.9279093419

i_episode: 2



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reward: -45.0320436584

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sim time: 0.4200000000000001
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sim time: 0.7200000000000003
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sim time: 0.9000000000000005
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sim time: 0.9600000000000005
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sim time: 1.0200000000000005
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sim time: 1.0800000000000005
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sim time: 1.2000000000000006
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sim time: 1.560000000000001
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sim time: 1.9200000000000013
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sim time: 1.9800000000000013
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sim time: 2.0400000000000014
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sim time: 2.1000000000000014
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sim time: 2.1600000000000015
reward: -45.8670085996

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sim time: 2.2200000000000015
reward: -45.9645861215

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sim time: 2.2800000000000016
reward: -46.1140564785

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sim time: 2.3400000000000016
reward: -46.1124930798

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sim time: 2.4000000000000017
reward: -46.0594171155

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sim time: 2.4600000000000017
reward: -46.1324881794

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sim time: 2.520000000000002
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sim time: 2.580000000000002
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sim time: 2.640000000000002
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sim time: 2.700000000000002
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sim time: 2.760000000000002
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sim time: 2.820000000000002
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sim time: 2.880000000000002
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sim time: 2.940000000000002
reward: -43.8891510141

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sim time: 3.000000000000002
reward: -43.3412475769

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sim time: 3.0600000000000023
reward: -42.7390082064

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sim time: 3.1200000000000023
reward: -42.1071057778

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sim time: 3.1800000000000024
reward: -41.4392055373

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sim time: 3.2400000000000024
reward: -40.7110269056

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sim time: 3.3000000000000025
reward: -39.9532757712

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sim time: 3.3600000000000025
reward: -39.1987883759

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sim time: 3.4200000000000026
reward: -38.4279359871

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sim time: 3.4800000000000026
reward: -37.6766969245

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sim time: 3.5400000000000027
reward: -36.9050146884

time: 60
sim time: 3.6000000000000028
reward: -36.089576804

time: 61
sim time: 3.660000000000003
reward: -35.2345568966

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sim time: 3.720000000000003
reward: -34.4007794668

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sim time: 3.780000000000003
reward: -33.5462667281

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sim time: 3.840000000000003
reward: -32.6179068351

time: 65
sim time: 3.900000000000003
reward: -31.6705589776

time: 66
sim time: 3.960000000000003
reward: -31.339019632
avg_episode_reward: -43.2266280667

i_episode: 3



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reward: -25.0900483536

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reward: -21.7167618574

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sim time: 2.820000000000002
reward: -18.6018728738

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sim time: 2.880000000000002
reward: -17.4971011519

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sim time: 2.940000000000002
reward: -16.6316893612

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sim time: 3.000000000000002
reward: -16.0506168931

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sim time: 3.0600000000000023
reward: -15.4878805257

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sim time: 3.1200000000000023
reward: -14.8413505703

time: 53
sim time: 3.1800000000000024
reward: -14.1691705335

time: 54
sim time: 3.2400000000000024
reward: -13.9817548276
avg_episode_reward: -33.4985161418

i_episode: 4



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reward: -62.5480650324

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reward: -60.6901209872

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sim time: 3.5400000000000027
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sim time: 4.14
reward: -51.5145796599

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sim time: 4.199999999999998
reward: -50.9375136716

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sim time: 4.259999999999997
reward: -50.2297683501

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reward: -49.4418833487

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reward: -47.5047835858

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reward: -46.347058855

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reward: -45.0677992585

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reward: -43.6548934458

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sim time: 4.679999999999988
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sim time: 2.580000000000002
reward: -23.8508676018

time: 44
sim time: 2.640000000000002
reward: -22.8246005518

time: 45
sim time: 2.700000000000002
reward: -21.7449582691

time: 46
sim time: 2.760000000000002
reward: -20.5351534098

time: 47
sim time: 2.820000000000002
reward: -19.3939056602

time: 48
sim time: 2.880000000000002
reward: -18.3385967037

time: 49
sim time: 2.940000000000002
reward: -18.0694457798
avg_episode_reward: -36.9372379481

i_episode: 499



time: 0
sim time: 0.0
reward: -45.0069177906

time: 1
sim time: 0.06
reward: -45.0320188761

time: 2
sim time: 0.12000000000000001
reward: -45.0420318743

time: 3
sim time: 0.18
reward: -45.0265930004

time: 4
sim time: 0.23999999999999996
reward: -44.9880873892

time: 5
sim time: 0.3
reward: -44.863885927

time: 6
sim time: 0.36000000000000004
reward: -44.7357239804

time: 7
sim time: 0.4200000000000001
reward: -44.6231138805

time: 8
sim time: 0.48000000000000015
reward: -44.4357032631

time: 9
sim time: 0.5400000000000001
reward: -44.1835758238

time: 10
sim time: 0.6000000000000002
reward: -43.9511101426

time: 11
sim time: 0.6600000000000003
reward: -43.7042121896

time: 12
sim time: 0.7200000000000003
reward: -43.3694135972

time: 13
sim time: 0.7800000000000004
reward: -43.0024483912

time: 14
sim time: 0.8400000000000004
reward: -42.6589069779

time: 15
sim time: 0.9000000000000005
reward: -42.2677245786

time: 16
sim time: 0.9600000000000005
reward: -41.7957745837

time: 17
sim time: 1.0200000000000005
reward: -41.321160287

time: 18
sim time: 1.0800000000000005
reward: -40.8539436736

time: 19
sim time: 1.1400000000000006
reward: -40.316305033

time: 20
sim time: 1.2000000000000006
reward: -39.7201351467

time: 21
sim time: 1.2600000000000007
reward: -39.1365091152

time: 22
sim time: 1.3200000000000007
reward: -38.5350665736

time: 23
sim time: 1.3800000000000008
reward: -37.856099622

time: 24
sim time: 1.4400000000000008
reward: -37.1441232857

time: 25
sim time: 1.5000000000000009
reward: -36.4447947924

time: 26
sim time: 1.560000000000001
reward: -35.7054190164

time: 27
sim time: 1.620000000000001
reward: -34.8952950018

time: 28
sim time: 1.680000000000001
reward: -34.0702687188

time: 29
sim time: 1.740000000000001
reward: -33.2475724874

time: 30
sim time: 1.8000000000000012
reward: -32.3723375735

time: 31
sim time: 1.8600000000000012
reward: -31.4402482053

time: 32
sim time: 1.9200000000000013
reward: -30.5023195913

time: 33
sim time: 1.9800000000000013
reward: -29.5553697434

time: 34
sim time: 2.0400000000000014
reward: -28.551571307

time: 35
sim time: 2.1000000000000014
reward: -27.5013375209

time: 36
sim time: 2.1600000000000015
reward: -26.4503906013

time: 37
sim time: 2.2200000000000015
reward: -25.3870602338

time: 38
sim time: 2.2800000000000016
reward: -24.2677812975

time: 39
sim time: 2.3400000000000016
reward: -23.1053492731

time: 40
sim time: 2.4000000000000017
reward: -21.9491887456

time: 41
sim time: 2.4600000000000017
reward: -20.785345299

time: 42
sim time: 2.520000000000002
reward: -19.5670671318

time: 43
sim time: 2.580000000000002
reward: -18.3122201332

time: 44
sim time: 2.640000000000002
reward: -17.0883659392

time: 45
sim time: 2.700000000000002
reward: -15.8706160185

time: 46
sim time: 2.760000000000002
reward: -14.5980438824

time: 47
sim time: 2.820000000000002
reward: -13.3144382686

time: 48
sim time: 2.880000000000002
reward: -12.1507636548

time: 49
sim time: 2.940000000000002
reward: -11.0843222794

time: 50
sim time: 3.000000000000002
reward: -10.0104686607

time: 51
sim time: 3.0600000000000023
reward: -9.24852626116

time: 52
sim time: 3.1200000000000023
reward: -9.39042582998

time: 53
sim time: 3.1800000000000024
reward: -11.4932425496

time: 54
sim time: 3.2400000000000024
reward: -14.7285393442
avg_episode_reward: -31.5756231703

i_episode: 500



time: 0
sim time: 0.0
reward: -45.0069231928

time: 1
sim time: 0.06
reward: -45.0320336528

time: 2
sim time: 0.12000000000000001
reward: -45.0420212445

time: 3
sim time: 0.18
reward: -45.0263819242

time: 4
sim time: 0.23999999999999996
reward: -44.9882250462

time: 5
sim time: 0.3
reward: -44.8641501582

time: 6
sim time: 0.36000000000000004
reward: -44.7353945576

time: 7
sim time: 0.4200000000000001
reward: -44.6226731146

time: 8
sim time: 0.48000000000000015
reward: -44.4358696088

time: 9
sim time: 0.5400000000000001
reward: -44.1835399309

time: 10
sim time: 0.6000000000000002
reward: -43.9504056075

time: 11
sim time: 0.6600000000000003
reward: -43.7038777298

time: 12
sim time: 0.7200000000000003
reward: -43.3695786365

time: 13
sim time: 0.7800000000000004
reward: -43.0020430028

time: 14
sim time: 0.8400000000000004
reward: -42.6580597236

time: 15
sim time: 0.9000000000000005
reward: -42.2674176136

time: 16
sim time: 0.9600000000000005
reward: -41.7955670808

time: 17
sim time: 1.0200000000000005
reward: -41.3202009113

time: 18
sim time: 1.0800000000000005
reward: -40.8528130236

time: 19
sim time: 1.1400000000000006
reward: -40.3156634007

time: 20
sim time: 1.2000000000000006
reward: -39.7191480779

time: 21
sim time: 1.2600000000000007
reward: -39.1347884013

time: 22
sim time: 1.3200000000000007
reward: -38.5335203406

time: 23
sim time: 1.3800000000000008
reward: -37.8548856534

time: 24
sim time: 1.4400000000000008
reward: -37.1423938039

time: 25
sim time: 1.5000000000000009
reward: -36.4425869134

time: 26
sim time: 1.560000000000001
reward: -35.7034981004

time: 27
sim time: 1.620000000000001
reward: -34.893420774

time: 28
sim time: 1.680000000000001
reward: -34.0677897765

time: 29
sim time: 1.740000000000001
reward: -33.2448847913

time: 30
sim time: 1.8000000000000012
reward: -32.3699890791

time: 31
sim time: 1.8600000000000012
reward: -31.4377788007

time: 32
sim time: 1.9200000000000013
reward: -30.4992996862

time: 33
sim time: 1.9800000000000013
reward: -29.5522401084

time: 34
sim time: 2.0400000000000014
reward: -28.5486257405

time: 35
sim time: 2.1000000000000014
reward: -27.4982337937

time: 36
sim time: 2.1600000000000015
reward: -26.4469155614

time: 37
sim time: 2.2200000000000015
reward: -25.3835371627

time: 38
sim time: 2.2800000000000016
reward: -24.2643358988

time: 39
sim time: 2.3400000000000016
reward: -23.10173781

time: 40
sim time: 2.4000000000000017
reward: -21.9453094366

time: 41
sim time: 2.4600000000000017
reward: -20.7814474293

time: 42
sim time: 2.520000000000002
reward: -19.5632671194

time: 43
sim time: 2.580000000000002
reward: -18.308278291

time: 44
sim time: 2.640000000000002
reward: -17.0841526163

time: 45
sim time: 2.700000000000002
reward: -15.8664529295

time: 46
sim time: 2.760000000000002
reward: -14.5941714092

time: 47
sim time: 2.820000000000002
reward: -13.3105671096

time: 48
sim time: 2.880000000000002
reward: -12.146783505

time: 49
sim time: 2.940000000000002
reward: -11.0805723912

time: 50
sim time: 3.000000000000002
reward: -10.0897799167

time: 51
sim time: 3.0600000000000023
reward: -9.48233044994

time: 52
sim time: 3.1200000000000023
reward: -9.58867158163

time: 53
sim time: 3.1800000000000024
reward: -10.9041132423

time: 54
sim time: 3.2400000000000024
reward: -13.5961310476
avg_episode_reward: -31.5518995984

##Plot last-episode trajectory
plt.plot(results['time'], results['x'], label='x')
plt.plot(results['time'], results['y'], label='y')
plt.plot(results['time'], results['z'], label='z')
plt.legend()
_ = plt.ylim()

plt.plot(range(len(avg_episode_rewards)), avg_episode_rewards, label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

Alterations to the network, which included increases to the number of units per layer and Batch Normalization, appeared to hurt performance as measured by rewards.

ATTEMPT 7

'''
Change exploration sigma from .2 to .4 and extend training from 500 to 1000 episodes.
'''


import sys
import pandas as pd
from agents.agent_new import DDPG
from task import Task

num_episodes = 1000
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []
file_output = 'data2.txt'

'''
Leave things the same as before, just record simulation and action history for plotting
'''
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

'''
USED THIS REWARD FUNCTION in task.py:
alpha = .3, beta = .3, gamma = 1.

reward = - alpha*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - beta*(abs(self.sim.v[:3] - self.target_vel)).sum()/(1 + gamma*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
'''

for i_episode in range(1, num_episodes+1):
    print("")
    print("i_episode: " + str(i_episode))
    print("")
    print("")
    state = agent.reset_episode() # start a new episode
    time = 0
    total_episode_reward = 0
    count = 0
    
    with open(file_output, 'w') as csvfile:
        writer = csv.writer(csvfile)
        writer.writerow(labels)
    
        while True:
            print("")
            print("time: " + str(time))
            print("sim time: " + str(task.sim.time))
        
            action = agent.act(state) 
            next_state, reward, done = task.step(action)
            print("reward: " + str(reward))
        
            if i_episode == num_episodes: #only write last episode with fully trained actor and critic networks
                to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
                for ii in range(len(labels)):
                    results[labels[ii]].append(to_write[ii])
                writer.writerow(to_write)
         
            total_episode_reward += reward
            count += 1
        
            agent.step(action, reward, next_state, done)
            state = next_state
            if done:
                break
            time += 1
    
    avg_episode_rewards.append(total_episode_reward/count)
    print("avg_episode_reward: " + str(total_episode_reward/count))
    sys.stdout.flush()

i_episode: 1



time: 0
sim time: 0.0
reward: -45.0258533522

time: 1
sim time: 0.06
reward: -45.121330923

time: 2
sim time: 0.12000000000000001
reward: -45.2999616809

time: 3
sim time: 0.18
reward: -45.5574789942

time: 4
sim time: 0.23999999999999996
reward: -45.8679275435

time: 5
sim time: 0.3
reward: -46.1927212173

time: 6
sim time: 0.36000000000000004
reward: -46.5233672191

time: 7
sim time: 0.4200000000000001
reward: -46.861875426

time: 8
sim time: 0.48000000000000015
reward: -47.1617764596

time: 9
sim time: 0.5400000000000001
reward: -47.400942407

time: 10
sim time: 0.6000000000000002
reward: -47.6016711824

time: 11
sim time: 0.6600000000000003
reward: -47.8059663844

time: 12
sim time: 0.7200000000000003
reward: -48.0498290455

time: 13
sim time: 0.7800000000000004
reward: -48.3251073914

time: 14
sim time: 0.8400000000000004
reward: -48.5801095293

time: 15
sim time: 0.9000000000000005
reward: -48.7683874952

time: 16
sim time: 0.9600000000000005
reward: -48.8827380596

time: 17
sim time: 1.0200000000000005
reward: -48.9615567893

time: 18
sim time: 1.0800000000000005
reward: -49.0350367136

time: 19
sim time: 1.1400000000000006
reward: -49.0969495404

time: 20
sim time: 1.2000000000000006
reward: -49.0959220431

time: 21
sim time: 1.2600000000000007
reward: -48.9849090472

time: 22
sim time: 1.3200000000000007
reward: -48.7915856131

time: 23
sim time: 1.3800000000000008
reward: -48.5903182478

time: 24
sim time: 1.4400000000000008
reward: -48.4489558314

time: 25
sim time: 1.5000000000000009
reward: -48.3366644659

time: 26
sim time: 1.560000000000001
reward: -48.1953821554

time: 27
sim time: 1.620000000000001
reward: -48.0252740874

time: 28
sim time: 1.680000000000001
reward: -47.8526778078

time: 29
sim time: 1.740000000000001
reward: -47.6919084986

time: 30
sim time: 1.8000000000000012
reward: -47.5108509598

time: 31
sim time: 1.8600000000000012
reward: -47.2417042827

time: 32
sim time: 1.9200000000000013
reward: -46.8779439199

time: 33
sim time: 1.9800000000000013
reward: -46.4849733242

time: 34
sim time: 2.0400000000000014
reward: -46.0502978172

time: 35
sim time: 2.1000000000000014
reward: -45.513410984

time: 36
sim time: 2.1600000000000015
reward: -44.8456316142

time: 37
sim time: 2.2200000000000015
reward: -44.140743263

time: 38
sim time: 2.2800000000000016
reward: -43.489564174

time: 39
sim time: 2.3400000000000016
reward: -42.9511532918

time: 40
sim time: 2.4000000000000017
reward: -42.4893073046

time: 41
sim time: 2.4600000000000017
reward: -42.1015258466

time: 42
sim time: 2.520000000000002
reward: -41.765690737

time: 43
sim time: 2.580000000000002
reward: -41.3143430355

time: 44
sim time: 2.640000000000002
reward: -40.7098815227

time: 45
sim time: 2.700000000000002
reward: -40.0562762681

time: 46
sim time: 2.760000000000002
reward: -39.3067722811

time: 47
sim time: 2.820000000000002
reward: -38.4624486254

time: 48
sim time: 2.880000000000002
reward: -37.7154096255

time: 49
sim time: 2.940000000000002
reward: -37.0755496043

time: 50
sim time: 3.000000000000002
reward: -36.5168622696

time: 51
sim time: 3.0600000000000023
reward: -35.9653737605

time: 52
sim time: 3.1200000000000023
reward: -35.2570021996

time: 53
sim time: 3.1800000000000024
reward: -34.4465189597

time: 54
sim time: 3.2400000000000024
reward: -33.6468980826
avg_episode_reward: -44.7649148892

i_episode: 2



time: 0
sim time: 0.0
reward: -45.0259286378

time: 1
sim time: 0.06
reward: -45.1219428739

time: 2
sim time: 0.12000000000000001
reward: -45.3019031384

time: 3
sim time: 0.18
reward: -45.561637879

time: 4
sim time: 0.23999999999999996
reward: -45.8750983636

time: 5
sim time: 0.3
reward: -46.2016300869

time: 6
sim time: 0.36000000000000004
reward: -46.5330845709

time: 7
sim time: 0.4200000000000001
reward: -46.8502788516

time: 8
sim time: 0.48000000000000015
reward: -47.1503044499

time: 9
sim time: 0.5400000000000001
reward: -47.3937123961

time: 10
sim time: 0.6000000000000002
reward: -47.59023046

time: 11
sim time: 0.6600000000000003
reward: -47.7509458014

time: 12
sim time: 0.7200000000000003
reward: -47.8864406234

time: 13
sim time: 0.7800000000000004
reward: -47.9544972283

time: 14
sim time: 0.8400000000000004
reward: -47.8937525809

time: 15
sim time: 0.9000000000000005
reward: -47.7417431171

time: 16
sim time: 0.9600000000000005
reward: -47.5361435029

time: 17
sim time: 1.0200000000000005
reward: -47.2978174158

time: 18
sim time: 1.0800000000000005
reward: -47.0677209935

time: 19
sim time: 1.1400000000000006
reward: -46.8463848699

time: 20
sim time: 1.2000000000000006
reward: -46.617028662

time: 21
sim time: 1.2600000000000007
reward: -46.3614319459

time: 22
sim time: 1.3200000000000007
reward: -46.1219459699

time: 23
sim time: 1.3800000000000008
reward: -45.8964667254

time: 24
sim time: 1.4400000000000008
reward: -45.5825259094

time: 25
sim time: 1.5000000000000009
reward: -45.2045090238

time: 26
sim time: 1.560000000000001
reward: -44.8078067762

time: 27
sim time: 1.620000000000001
reward: -44.3397095346

time: 28
sim time: 1.680000000000001
reward: -43.7311514701

time: 29
sim time: 1.740000000000001
reward: -43.0293476361

time: 30
sim time: 1.8000000000000012
reward: -42.2703376989

time: 31
sim time: 1.8600000000000012
reward: -41.4014022512

time: 32
sim time: 1.9200000000000013
reward: -40.3881345565

time: 33
sim time: 1.9800000000000013
reward: -39.318137104

time: 34
sim time: 2.0400000000000014
reward: -38.2736717965

time: 35
sim time: 2.1000000000000014
reward: -37.2675736157

time: 36
sim time: 2.1600000000000015
reward: -36.2339509328

time: 37
sim time: 2.2200000000000015
reward: -35.1674853607

time: 38
sim time: 2.2800000000000016
reward: -34.0192678201

time: 39
sim time: 2.3400000000000016
reward: -32.7478993616

time: 40
sim time: 2.4000000000000017
reward: -31.3750393068

time: 41
sim time: 2.4600000000000017
reward: -29.9366974459

time: 42
sim time: 2.520000000000002
reward: -28.4717284139

time: 43
sim time: 2.580000000000002
reward: -27.0349148065

time: 44
sim time: 2.640000000000002
reward: -25.7250123155

time: 45
sim time: 2.700000000000002
reward: -24.5501525266

time: 46
sim time: 2.760000000000002
reward: -23.4624966176

time: 47
sim time: 2.820000000000002
reward: -22.4299326887

time: 48
sim time: 2.880000000000002
reward: -21.4949538243

time: 49
sim time: 2.940000000000002
reward: -20.633337711

time: 50
sim time: 3.000000000000002
reward: -19.7876099063

time: 51
sim time: 3.0600000000000023
reward: -18.925914445

time: 52
sim time: 3.1200000000000023
reward: -18.2780048205
avg_episode_reward: -39.1974863551

i_episode: 3



time: 0
sim time: 0.0
reward: -45.0224397259

time: 1
sim time: 0.06
reward: -45.0925758364

time: 2
sim time: 0.12000000000000001
reward: -45.2094104764

time: 3
sim time: 0.18
reward: -45.3726517743

time: 4
sim time: 0.23999999999999996
reward: -45.5819163688

time: 5
sim time: 0.3
reward: -45.8368186712

time: 6
sim time: 0.36000000000000004
reward: -46.1370352578

time: 7
sim time: 0.4200000000000001
reward: -46.4822217089

time: 8
sim time: 0.48000000000000015
reward: -46.8718738335

time: 9
sim time: 0.5400000000000001
reward: -47.3054041166

time: 10
sim time: 0.6000000000000002
reward: -47.782154987

time: 11
sim time: 0.6600000000000003
reward: -48.3013566579

time: 12
sim time: 0.7200000000000003
reward: -48.8621909879

time: 13
sim time: 0.7800000000000004
reward: -49.463791898

time: 14
sim time: 0.8400000000000004
reward: -50.1052261416

time: 15
sim time: 0.9000000000000005
reward: -50.7855506675

time: 16
sim time: 0.9600000000000005
reward: -51.5037552695

time: 17
sim time: 1.0200000000000005
reward: -52.2587023983

time: 18
sim time: 1.0800000000000005
reward: -53.0491625453

time: 19
sim time: 1.1400000000000006
reward: -53.8739028344

time: 20
sim time: 1.2000000000000006
reward: -54.7316706477

time: 21
sim time: 1.2600000000000007
reward: -55.62115832

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sim time: 4.859999999999984
reward: -128.874435364

time: 82
sim time: 4.919999999999983
reward: -129.687502204

time: 83
sim time: 4.979999999999982
reward: -130.43421197
avg_episode_reward: -81.441998801

i_episode: 999



time: 0
sim time: 0.0
reward: -45.0225217056

time: 1
sim time: 0.06
reward: -45.0929249449

time: 2
sim time: 0.12000000000000001
reward: -45.2100769033

time: 3
sim time: 0.18
reward: -45.3733026599

time: 4
sim time: 0.23999999999999996
reward: -45.5818097362

time: 5
sim time: 0.3
reward: -45.8345915583

time: 6
sim time: 0.36000000000000004
reward: -46.1305311978

time: 7
sim time: 0.4200000000000001
reward: -46.4683856745

time: 8
sim time: 0.48000000000000015
reward: -46.8467331356

time: 9
sim time: 0.5400000000000001
reward: -47.2640583973

time: 10
sim time: 0.6000000000000002
reward: -47.7187318204

time: 11
sim time: 0.6600000000000003
reward: -48.2089781021

time: 12
sim time: 0.7200000000000003
reward: -48.7329105902

time: 13
sim time: 0.7800000000000004
reward: -49.2886352963

time: 14
sim time: 0.8400000000000004
reward: -49.8742451203

time: 15
sim time: 0.9000000000000005
reward: -50.4877665921

time: 16
sim time: 0.9600000000000005
reward: -51.127220984

time: 17
sim time: 1.0200000000000005
reward: -51.790737682

time: 18
sim time: 1.0800000000000005
reward: -52.4765799962

time: 19
sim time: 1.1400000000000006
reward: -53.1832373807

time: 20
sim time: 1.2000000000000006
reward: -53.9094041773

time: 21
sim time: 1.2600000000000007
reward: -54.6538626634

time: 22
sim time: 1.3200000000000007
reward: -55.4155699949

time: 23
sim time: 1.3800000000000008
reward: -56.1936837963

time: 24
sim time: 1.4400000000000008
reward: -56.9875121284

time: 25
sim time: 1.5000000000000009
reward: -57.7965335743

time: 26
sim time: 1.560000000000001
reward: -58.6203740661

time: 27
sim time: 1.620000000000001
reward: -59.4588288866

time: 28
sim time: 1.680000000000001
reward: -60.3119113877

time: 29
sim time: 1.740000000000001
reward: -61.1797426308

time: 30
sim time: 1.8000000000000012
reward: -62.0625319558

time: 31
sim time: 1.8600000000000012
reward: -62.9606159971

time: 32
sim time: 1.9200000000000013
reward: -63.8744260035

time: 33
sim time: 1.9800000000000013
reward: -64.8044938166

time: 34
sim time: 2.0400000000000014
reward: -65.7514691214

time: 35
sim time: 2.1000000000000014
reward: -66.7159699951

time: 36
sim time: 2.1600000000000015
reward: -67.6985827745

time: 37
sim time: 2.2200000000000015
reward: -68.6998507291

time: 38
sim time: 2.2800000000000016
reward: -69.7201483754

time: 39
sim time: 2.3400000000000016
reward: -70.7597307548

time: 40
sim time: 2.4000000000000017
reward: -71.81882965

time: 41
sim time: 2.4600000000000017
reward: -72.8976637917

time: 42
sim time: 2.520000000000002
reward: -73.9964570288

time: 43
sim time: 2.580000000000002
reward: -75.115468449

time: 44
sim time: 2.640000000000002
reward: -76.254786024

time: 45
sim time: 2.700000000000002
reward: -77.4143000365

time: 46
sim time: 2.760000000000002
reward: -78.5939935584

time: 47
sim time: 2.820000000000002
reward: -79.7938121807

time: 48
sim time: 2.880000000000002
reward: -81.0135273199

time: 49
sim time: 2.940000000000002
reward: -82.2527600356

time: 50
sim time: 3.000000000000002
reward: -83.5111093463

time: 51
sim time: 3.0600000000000023
reward: -84.7881774127

time: 52
sim time: 3.1200000000000023
reward: -86.0834612376

time: 53
sim time: 3.1800000000000024
reward: -87.3963616204

time: 54
sim time: 3.2400000000000024
reward: -88.7262312529

time: 55
sim time: 3.3000000000000025
reward: -90.0723232277

time: 56
sim time: 3.3600000000000025
reward: -91.4336191619

time: 57
sim time: 3.4200000000000026
reward: -92.8090535269

time: 58
sim time: 3.4800000000000026
reward: -94.19735189

time: 59
sim time: 3.5400000000000027
reward: -95.5971082662

time: 60
sim time: 3.6000000000000028
reward: -97.0068044907

time: 61
sim time: 3.660000000000003
reward: -98.4248451565

time: 62
sim time: 3.720000000000003
reward: -99.8495275875

time: 63
sim time: 3.780000000000003
reward: -101.279023765

time: 64
sim time: 3.840000000000003
reward: -102.711465988

time: 65
sim time: 3.900000000000003
reward: -104.144968416

time: 66
sim time: 3.960000000000003
reward: -105.577617907

time: 67
sim time: 4.020000000000002
reward: -107.007482684

time: 68
sim time: 4.080000000000001
reward: -108.432564114

time: 69
sim time: 4.14
reward: -109.850859784

time: 70
sim time: 4.199999999999998
reward: -111.260394299

time: 71
sim time: 4.259999999999997
reward: -112.65923013

time: 72
sim time: 4.319999999999996
reward: -114.045479269

time: 73
sim time: 4.379999999999995
reward: -115.417277702

time: 74
sim time: 4.439999999999993
reward: -116.772796677

time: 75
sim time: 4.499999999999992
reward: -118.110270344

time: 76
sim time: 4.559999999999991
reward: -119.427977281

time: 77
sim time: 4.6199999999999894
reward: -120.724227924

time: 78
sim time: 4.679999999999988
reward: -121.997469208

time: 79
sim time: 4.739999999999987
reward: -123.246251313

time: 80
sim time: 4.799999999999986
reward: -124.4692088

time: 81
sim time: 4.859999999999984
reward: -125.66510168

time: 82
sim time: 4.919999999999983
reward: -126.838575299

time: 83
sim time: 4.979999999999982
reward: -127.985514508
avg_episode_reward: -78.2852446625

i_episode: 1000



time: 0
sim time: 0.0
reward: -45.0224461027

time: 1
sim time: 0.06
reward: -45.0926211571

time: 2
sim time: 0.12000000000000001
reward: -45.2094412692

time: 3
sim time: 0.18
reward: -45.3723338179

time: 4
sim time: 0.23999999999999996
reward: -45.5804729036

time: 5
sim time: 0.3
reward: -45.8327679339

time: 6
sim time: 0.36000000000000004
reward: -46.1279320011

time: 7
sim time: 0.4200000000000001
reward: -46.4645435953

time: 8
sim time: 0.48000000000000015
reward: -46.841039269

time: 9
sim time: 0.5400000000000001
reward: -47.2561028514

time: 10
sim time: 0.6000000000000002
reward: -47.7092432603

time: 11
sim time: 0.6600000000000003
reward: -48.1979872747

time: 12
sim time: 0.7200000000000003
reward: -48.7204608627

time: 13
sim time: 0.7800000000000004
reward: -49.2746955509

time: 14
sim time: 0.8400000000000004
reward: -49.8585665759

time: 15
sim time: 0.9000000000000005
reward: -50.4697570239

time: 16
sim time: 0.9600000000000005
reward: -51.1058475714

time: 17
sim time: 1.0200000000000005
reward: -51.7647318548

time: 18
sim time: 1.0800000000000005
reward: -52.444747833

time: 19
sim time: 1.1400000000000006
reward: -53.1427363524

time: 20
sim time: 1.2000000000000006
reward: -53.8583821231

time: 21
sim time: 1.2600000000000007
reward: -54.6104095952

time: 22
sim time: 1.3200000000000007
reward: -55.3889939059

time: 23
sim time: 1.3800000000000008
reward: -56.1900477083

time: 24
sim time: 1.4400000000000008
reward: -57.0130655969

time: 25
sim time: 1.5000000000000009
reward: -57.8575531518

time: 26
sim time: 1.560000000000001
reward: -58.722995112

time: 27
sim time: 1.620000000000001
reward: -59.6088847164

time: 28
sim time: 1.680000000000001
reward: -60.5147683901

time: 29
sim time: 1.740000000000001
reward: -61.440199641

time: 30
sim time: 1.8000000000000012
reward: -62.3848584583

time: 31
sim time: 1.8600000000000012
reward: -63.3485022251

time: 32
sim time: 1.9200000000000013
reward: -64.3308860814

time: 33
sim time: 1.9800000000000013
reward: -65.3317961377

time: 34
sim time: 2.0400000000000014
reward: -66.351085416

time: 35
sim time: 2.1000000000000014
reward: -67.3886663795

time: 36
sim time: 2.1600000000000015
reward: -68.4445311554

time: 37
sim time: 2.2200000000000015
reward: -69.5186716149

time: 38
sim time: 2.2800000000000016
reward: -70.6110084592

time: 39
sim time: 2.3400000000000016
reward: -71.7214346927

time: 40
sim time: 2.4000000000000017
reward: -72.8498489016

time: 41
sim time: 2.4600000000000017
reward: -73.9961368947

time: 42
sim time: 2.520000000000002
reward: -75.1600773998

time: 43
sim time: 2.580000000000002
reward: -76.3414026091

time: 44
sim time: 2.640000000000002
reward: -77.5398331336

time: 45
sim time: 2.700000000000002
reward: -78.7551518618

time: 46
sim time: 2.760000000000002
reward: -79.9871022785

time: 47
sim time: 2.820000000000002
reward: -81.2353576357

time: 48
sim time: 2.880000000000002
reward: -82.499627445

time: 49
sim time: 2.940000000000002
reward: -83.7796323965

time: 50
sim time: 3.000000000000002
reward: -85.0750826824

time: 51
sim time: 3.0600000000000023
reward: -86.3855089564

time: 52
sim time: 3.1200000000000023
reward: -87.7104372906

time: 53
sim time: 3.1800000000000024
reward: -89.0493032232

time: 54
sim time: 3.2400000000000024
reward: -90.401357602

time: 55
sim time: 3.3000000000000025
reward: -91.7658241691

time: 56
sim time: 3.3600000000000025
reward: -93.1417440141

time: 57
sim time: 3.4200000000000026
reward: -94.5280230001

time: 58
sim time: 3.4800000000000026
reward: -95.9235529507

time: 59
sim time: 3.5400000000000027
reward: -97.327106462

time: 60
sim time: 3.6000000000000028
reward: -98.7373953762

time: 61
sim time: 3.660000000000003
reward: -100.153120619

time: 62
sim time: 3.720000000000003
reward: -101.572891241

time: 63
sim time: 3.780000000000003
reward: -102.995340101

time: 64
sim time: 3.840000000000003
reward: -104.419007378

time: 65
sim time: 3.900000000000003
reward: -105.842344907

time: 66
sim time: 3.960000000000003
reward: -107.263768934

time: 67
sim time: 4.020000000000002
reward: -108.681687251

time: 68
sim time: 4.080000000000001
reward: -110.094462428

time: 69
sim time: 4.14
reward: -111.500520947

time: 70
sim time: 4.199999999999998
reward: -112.898322812

time: 71
sim time: 4.259999999999997
reward: -114.286338617

time: 72
sim time: 4.319999999999996
reward: -115.663041252

time: 73
sim time: 4.379999999999995
reward: -117.026895306

time: 74
sim time: 4.439999999999993
reward: -118.376406459

time: 75
sim time: 4.499999999999992
reward: -119.710127796

time: 76
sim time: 4.559999999999991
reward: -121.026631423

time: 77
sim time: 4.6199999999999894
reward: -122.324499226

time: 78
sim time: 4.679999999999988
reward: -123.602322911

time: 79
sim time: 4.739999999999987
reward: -124.858683043

time: 80
sim time: 4.799999999999986
reward: -126.092239611

time: 81
sim time: 4.859999999999984
reward: -127.301719911

time: 82
sim time: 4.919999999999983
reward: -128.485945323

time: 83
sim time: 4.979999999999982
reward: -129.648097612
avg_episode_reward: -79.1921325835

##Plot last-episode trajectory
plt.plot(results['time'], results['x'], label='x')
plt.plot(results['time'], results['y'], label='y')
plt.plot(results['time'], results['z'], label='z')
plt.legend()
_ = plt.ylim()

plt.plot(range(len(avg_episode_rewards)), avg_episode_rewards, label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

ATTEMPT 8

'''
Change exploration sigma back to .2, and lower theta from .15 to .1.
'''


import sys
import pandas as pd
from agents.agent_new import DDPG
from task import Task

num_episodes = 1000
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []
file_output = 'data2.txt'

'''
Leave things the same as before, just record simulation and action history for plotting
'''
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

'''
USED THIS REWARD FUNCTION in task.py:
alpha = .3, beta = .3, gamma = 1.

reward = - alpha*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - beta*(abs(self.sim.v[:3] - self.target_vel)).sum()/(1 + gamma*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
'''

for i_episode in range(1, num_episodes+1):
    print("")
    print("i_episode: " + str(i_episode))
    print("")
    print("")
    state = agent.reset_episode() # start a new episode
    time = 0
    total_episode_reward = 0
    count = 0
    
    with open(file_output, 'w') as csvfile:
        writer = csv.writer(csvfile)
        writer.writerow(labels)
    
        while True:
            print("")
            print("time: " + str(time))
            print("sim time: " + str(task.sim.time))
        
            action = agent.act(state) 
            next_state, reward, done = task.step(action)
            print("reward: " + str(reward))
        
            if i_episode == num_episodes: #only write last episode with fully trained actor and critic networks
                to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
                for ii in range(len(labels)):
                    results[labels[ii]].append(to_write[ii])
                writer.writerow(to_write)
         
            total_episode_reward += reward
            count += 1
        
            agent.step(action, reward, next_state, done)
            state = next_state
            if done:
                break
            time += 1
    
    avg_episode_rewards.append(total_episode_reward/count)
    print("avg_episode_reward: " + str(total_episode_reward/count))
    sys.stdout.flush()

    #Interrupted since training was not improving performance

i_episode: 1



time: 0
sim time: 0.0
reward: -45.0061000921

time: 1
sim time: 0.06
reward: -45.0240070866

time: 2
sim time: 0.12000000000000001
reward: -45.023412172

time: 3
sim time: 0.18
reward: -44.9867982225

time: 4
sim time: 0.23999999999999996
reward: -44.9564886881

time: 5
sim time: 0.3
reward: -44.8538079235

time: 6
sim time: 0.36000000000000004
reward: -44.6939462

time: 7
sim time: 0.4200000000000001
reward: -44.5472932931

time: 8
sim time: 0.48000000000000015
reward: -44.3879057713

time: 9
sim time: 0.5400000000000001
reward: -44.143765039

time: 10
sim time: 0.6000000000000002
reward: -43.8656827415

time: 11
sim time: 0.6600000000000003
reward: -43.6095116333

time: 12
sim time: 0.7200000000000003
reward: -43.3073971869

time: 13
sim time: 0.7800000000000004
reward: -42.9305613944

time: 14
sim time: 0.8400000000000004
reward: -42.5423417787

time: 15
sim time: 0.9000000000000005
reward: -42.1659230051

time: 16
sim time: 0.9600000000000005
reward: -41.7197914119

time: 17
sim time: 1.0200000000000005
reward: -41.2193569575

time: 18
sim time: 1.0800000000000005
reward: -40.7250380938

time: 19
sim time: 1.1400000000000006
reward: -40.2155386059

time: 20
sim time: 1.2000000000000006
reward: -39.6311628583

time: 21
sim time: 1.2600000000000007
reward: -39.0151333578

time: 22
sim time: 1.3200000000000007
reward: -38.4082361479

time: 23
sim time: 1.3800000000000008
reward: -37.7595973624

time: 24
sim time: 1.4400000000000008
reward: -37.0469702539

time: 25
sim time: 1.5000000000000009
reward: -36.3200491733

time: 26
sim time: 1.560000000000001
reward: -35.5909602574

time: 27
sim time: 1.620000000000001
reward: -34.8057723547

time: 28
sim time: 1.680000000000001
reward: -33.9763261434

time: 29
sim time: 1.740000000000001
reward: -33.14156026

time: 30
sim time: 1.8000000000000012
reward: -32.2823329543

time: 31
sim time: 1.8600000000000012
reward: -31.3682167467

time: 32
sim time: 1.9200000000000013
reward: -30.4322153829

time: 33
sim time: 1.9800000000000013
reward: -29.4871027945

time: 34
sim time: 2.0400000000000014
reward: -28.4950504647

time: 35
sim time: 2.1000000000000014
reward: -27.4630253276

time: 36
sim time: 2.1600000000000015
reward: -26.4290123334

time: 37
sim time: 2.2200000000000015
reward: -25.3706572771

time: 38
sim time: 2.2800000000000016
reward: -24.2497334346

time: 39
sim time: 2.3400000000000016
reward: -23.1127362223

time: 40
sim time: 2.4000000000000017
reward: -21.9940796987

time: 41
sim time: 2.4600000000000017
reward: -20.8363457489

time: 42
sim time: 2.520000000000002
reward: -19.5953350434

time: 43
sim time: 2.580000000000002
reward: -18.3680885899

time: 44
sim time: 2.640000000000002
reward: -17.2012903486

time: 45
sim time: 2.700000000000002
reward: -16.0055984919

time: 46
sim time: 2.760000000000002
reward: -14.6957787464

time: 47
sim time: 2.820000000000002
reward: -13.4197958137

time: 48
sim time: 2.880000000000002
reward: -12.2712266991

time: 49
sim time: 2.940000000000002
reward: -11.2308545824

time: 50
sim time: 3.000000000000002
reward: -10.2862639592

time: 51
sim time: 3.0600000000000023
reward: -9.39479263489

time: 52
sim time: 3.1200000000000023
reward: -8.95980761579

time: 53
sim time: 3.1800000000000024
reward: -9.76838476165

time: 54
sim time: 3.2400000000000024
reward: -15.0771057942
avg_episode_reward: -31.516641217

i_episode: 2



time: 0
sim time: 0.0
reward: -45.0061619584

time: 1
sim time: 0.06
reward: -45.0246667241

time: 2
sim time: 0.12000000000000001
reward: -45.0249413854

time: 3
sim time: 0.18
reward: -44.9894403428

time: 4
sim time: 0.23999999999999996
reward: -44.9599584391

time: 5
sim time: 0.3
reward: -44.8561396886

time: 6
sim time: 0.36000000000000004
reward: -44.6968607602

time: 7
sim time: 0.4200000000000001
reward: -44.5534205493

time: 8
sim time: 0.48000000000000015
reward: -44.3935351376

time: 9
sim time: 0.5400000000000001
reward: -44.1483990477

time: 10
sim time: 0.6000000000000002
reward: -43.8716515262

time: 11
sim time: 0.6600000000000003
reward: -43.6019816688

time: 12
sim time: 0.7200000000000003
reward: -43.3047146791

time: 13
sim time: 0.7800000000000004
reward: -42.975969329

time: 14
sim time: 0.8400000000000004
reward: -42.6133583148

time: 15
sim time: 0.9000000000000005
reward: -42.221083236

time: 16
sim time: 0.9600000000000005
reward: -41.8063399192

time: 17
sim time: 1.0200000000000005
reward: -41.3250239549

time: 18
sim time: 1.0800000000000005
reward: -40.804109328

time: 19
sim time: 1.1400000000000006
reward: -40.2595617484

time: 20
sim time: 1.2000000000000006
reward: -39.6891106598

time: 21
sim time: 1.2600000000000007
reward: -39.0973376405

time: 22
sim time: 1.3200000000000007
reward: -38.5548240067

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sim time: 0.9600000000000005
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sim time: 1.4400000000000008
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time: 25
sim time: 1.5000000000000009
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time: 26
sim time: 1.560000000000001
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sim time: 1.620000000000001
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sim time: 1.680000000000001
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sim time: 1.740000000000001
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sim time: 1.9800000000000013
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reward: -12.4512608197

time: 52
sim time: 3.1200000000000023
reward: -26.8584144008
avg_episode_reward: -31.0215972425

i_episode: 27



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sim time: 1.680000000000001
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sim time: 1.8000000000000012
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sim time: 1.8600000000000012
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sim time: 1.9800000000000013
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sim time: 2.0400000000000014
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sim time: 2.1000000000000014
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sim time: 2.1600000000000015
reward: -26.4583532827

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sim time: 2.2200000000000015
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sim time: 2.2800000000000016
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sim time: 2.3400000000000016
reward: -23.1128224998

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sim time: 2.4000000000000017
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sim time: 2.4600000000000017
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sim time: 2.520000000000002
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sim time: 2.580000000000002
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sim time: 2.640000000000002
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sim time: 2.700000000000002
reward: -15.8796677235

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sim time: 2.760000000000002
reward: -14.6033548388

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sim time: 2.820000000000002
reward: -13.3223458004

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sim time: 2.880000000000002
reward: -12.1610599001

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sim time: 2.940000000000002
reward: -11.0912980091

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sim time: 3.000000000000002
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sim time: 3.0600000000000023
reward: -9.18344799357

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sim time: 3.1200000000000023
reward: -9.13079639186

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sim time: 3.1800000000000024
reward: -10.9729908184

time: 54
sim time: 3.2400000000000024
reward: -15.1408828438
avg_episode_reward: -31.5722465249

i_episode: 28



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sim time: 1.0200000000000005
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sim time: 1.0800000000000005
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sim time: 1.1400000000000006
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sim time: 1.2000000000000006
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sim time: 1.2600000000000007
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sim time: 1.3200000000000007
reward: -38.5256711558

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sim time: 1.3800000000000008
reward: -37.8483084864

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sim time: 1.4400000000000008
reward: -37.1341980156

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sim time: 1.5000000000000009
reward: -36.4327594968

time: 26
sim time: 1.560000000000001
reward: -35.6948370503

time: 27
sim time: 1.620000000000001
reward: -34.8851947966

time: 28
sim time: 1.680000000000001
reward: -34.0574727184

time: 29
sim time: 1.740000000000001
reward: -33.2338042439

time: 30
sim time: 1.8000000000000012
reward: -32.360411298

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sim time: 1.8600000000000012
reward: -31.4279777238

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sim time: 1.9200000000000013
reward: -30.4873275229

time: 33
sim time: 1.9800000000000013
reward: -29.5399094834

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sim time: 2.0400000000000014
reward: -28.5375471795

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sim time: 2.1000000000000014
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sim time: 2.1600000000000015
reward: -26.4336219132

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sim time: 2.2200000000000015
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sim time: 2.2800000000000016
reward: -24.2519430938

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sim time: 2.3400000000000016
reward: -23.0884384914

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sim time: 2.4000000000000017
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sim time: 2.4600000000000017
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sim time: 2.520000000000002
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sim time: 2.580000000000002
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sim time: 2.640000000000002
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sim time: 2.700000000000002
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sim time: 2.760000000000002
reward: -14.5821319594

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sim time: 2.820000000000002
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sim time: 2.880000000000002
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sim time: 2.940000000000002
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sim time: 3.000000000000002
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sim time: 3.0600000000000023
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sim time: 3.1200000000000023
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sim time: 3.1800000000000024
reward: -11.058219486

time: 54
sim time: 3.2400000000000024
reward: -15.3254764643
avg_episode_reward: -31.5627405188

i_episode: 29



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sim time: 0.0
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sim time: 0.18
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sim time: 0.23999999999999996
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time: 5
sim time: 0.3
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sim time: 0.36000000000000004
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sim time: 0.4200000000000001
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sim time: 0.48000000000000015
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sim time: 0.5400000000000001
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sim time: 0.6000000000000002
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time: 11
sim time: 0.6600000000000003
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time: 12
sim time: 0.7200000000000003
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sim time: 0.7800000000000004
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time: 15
sim time: 0.9000000000000005
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time: 16
sim time: 0.9600000000000005
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time: 17
sim time: 1.0200000000000005
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time: 18
sim time: 1.0800000000000005
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time: 19
sim time: 1.1400000000000006
reward: -40.3798631645

time: 20
sim time: 1.2000000000000006
reward: -39.8554042284

---------------------------------------------------------------------------
KeyboardInterrupt                         Traceback (most recent call last)
<ipython-input-130-4fb773223f84> in <module>()
     67             count += 1
     68 
---> 69             agent.step(action, reward, next_state, done)
     70             state = next_state
     71             if done:

~/Dropbox/Extra/Machine-Learning/Udacity Machine Learning/Quadcopter_2/RL-Quadcopter-2/agents/agent_new.py in step(self, action, reward, next_state, done)
    243         if len(self.memory) > self.batch_size:
    244             experiences = self.memory.sample()
--> 245             self.learn(experiences)
    246 
    247         # Roll over last state and action

~/Dropbox/Extra/Machine-Learning/Udacity Machine Learning/Quadcopter_2/RL-Quadcopter-2/agents/agent_new.py in learn(self, experiences)
    257         """Update policy and value parameters using given batch of experience tuples."""
    258         # Convert experience tuples to separate arrays for each element (states, actions, rewards, etc.)
--> 259         states = np.vstack([e.state for e in experiences if e is not None])
    260         actions = np.array([e.action for e in experiences if e is not None]).astype(np.float32).reshape(-1, self.action_size)
    261         rewards = np.array([e.reward for e in experiences if e is not None]).astype(np.float32).reshape(-1, 1)

~/anaconda3/lib/python3.6/site-packages/numpy/core/shape_base.py in vstack(tup)
    232 
    233     """
--> 234     return _nx.concatenate([atleast_2d(_m) for _m in tup], 0)
    235 
    236 def hstack(tup):

KeyboardInterrupt: 

ATTEMPT 9

'''
Recover original performance from Attempt 5
'''




import sys
import pandas as pd
from agents.agent import DDPG
from task import Task

num_episodes = 500
init_pose = np.array([0., 0., 50., 0., 0., 0.])
init_vel = np.array([0., 0., 0.])
init_angle_velocities = np.array([0., 0., 0.])
target_pose = np.array([0., 0., 0., 0., 0., 0.])
target_vel = np.array([0., 0., 0.])
task = Task(init_pose=init_pose, init_vel=init_vel, init_angle_velocities=init_angle_velocities, target_pose=target_pose, target_vel=target_vel)
agent = DDPG(task)
avg_episode_rewards = []
file_output = 'data2.txt'

'''
Leave things the same as before, just record simulation and action history for plotting
'''
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']
results = {x : [] for x in labels}

'''
USED THIS REWARD FUNCTION in task.py:
alpha = .3, beta = .3, gamma = 1.

reward = - alpha*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - beta*(abs(self.sim.v[:3] - self.target_vel)).sum()/(1 + gamma*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() ) #velocity only counts when close to ground
'''

for i_episode in range(1, num_episodes+1):
    print("")
    print("i_episode: " + str(i_episode))
    print("")
    print("")
    state = agent.reset_episode() # start a new episode
    time = 0
    total_episode_reward = 0
    count = 0
    
    with open(file_output, 'w') as csvfile:
        writer = csv.writer(csvfile)
        writer.writerow(labels)
    
        while True:
            print("")
            print("time: " + str(time))
            print("sim time: " + str(task.sim.time))
        
            action = agent.act(state) 
            next_state, reward, done = task.step(action)
            print("reward: " + str(reward))
        
            if i_episode == num_episodes: #only write last episode with fully trained actor and critic networks
                to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
                for ii in range(len(labels)):
                    results[labels[ii]].append(to_write[ii])
                writer.writerow(to_write)
         
            total_episode_reward += reward
            count += 1
        
            agent.step(action, reward, next_state, done)
            state = next_state
            if done:
                break
            time += 1
    
    avg_episode_rewards.append(total_episode_reward/count)
    print("avg_episode_reward: " + str(total_episode_reward/count))
    sys.stdout.flush()

 

i_episode: 1



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sim time: 0.0
reward: -45.0336606176

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sim time: 0.12000000000000001
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sim time: 0.18
reward: -45.2617728665

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sim time: 0.23999999999999996
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sim time: 0.3
reward: -45.6397111777

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sim time: 0.36000000000000004
reward: -45.783161112

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sim time: 0.4200000000000001
reward: -45.9787475684

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sim time: 0.48000000000000015
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sim time: 0.5400000000000001
reward: -46.5053691177

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sim time: 0.6000000000000002
reward: -46.7149845109

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sim time: 0.6600000000000003
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sim time: 0.7200000000000003
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sim time: 0.7800000000000004
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sim time: 0.8400000000000004
reward: -47.9241826616

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sim time: 0.9000000000000005
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sim time: 0.9600000000000005
reward: -48.672509051

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sim time: 1.0200000000000005
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sim time: 1.0800000000000005
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sim time: 1.1400000000000006
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sim time: 1.2000000000000006
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sim time: 1.2600000000000007
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sim time: 1.3200000000000007
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sim time: 1.3800000000000008
reward: -51.4717947028

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sim time: 1.4400000000000008
reward: -51.9150651113

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sim time: 1.5000000000000009
reward: -52.3214881203

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sim time: 1.560000000000001
reward: -52.7892736607

time: 27
sim time: 1.620000000000001
reward: -53.2984202041

time: 28
sim time: 1.680000000000001
reward: -53.7338722592

time: 29
sim time: 1.740000000000001
reward: -54.1825509159

time: 30
sim time: 1.8000000000000012
reward: -54.6897337793

time: 31
sim time: 1.8600000000000012
reward: -55.2021767454

time: 32
sim time: 1.9200000000000013
reward: -55.6351374657

time: 33
sim time: 1.9800000000000013
reward: -56.114444516

time: 34
sim time: 2.0400000000000014
reward: -56.6468157694

time: 35
sim time: 2.1000000000000014
reward: -57.129032105

time: 36
sim time: 2.1600000000000015
reward: -57.5688655948

time: 37
sim time: 2.2200000000000015
reward: -58.0659267824

time: 38
sim time: 2.2800000000000016
reward: -58.5939497695

time: 39
sim time: 2.3400000000000016
reward: -59.0315222038

time: 40
sim time: 2.4000000000000017
reward: -59.4739992572

time: 41
sim time: 2.4600000000000017
reward: -59.9763356171

time: 42
sim time: 2.520000000000002
reward: -60.463202348

time: 43
sim time: 2.580000000000002
reward: -60.8584908366

time: 44
sim time: 2.640000000000002
reward: -61.2949066151

time: 45
sim time: 2.700000000000002
reward: -61.7797170057

time: 46
sim time: 2.760000000000002
reward: -62.1909206777

time: 47
sim time: 2.820000000000002
reward: -62.5514759963

time: 48
sim time: 2.880000000000002
reward: -62.9692127764

time: 49
sim time: 2.940000000000002
reward: -63.4018495222

time: 50
sim time: 3.000000000000002
reward: -63.7236664368

time: 51
sim time: 3.0600000000000023
reward: -64.0456462133

time: 52
sim time: 3.1200000000000023
reward: -64.4270021719

time: 53
sim time: 3.1800000000000024
reward: -64.768381333

time: 54
sim time: 3.2400000000000024
reward: -65.0022295042

time: 55
sim time: 3.3000000000000025
reward: -65.2782845846

time: 56
sim time: 3.3600000000000025
reward: -65.5917034318

time: 57
sim time: 3.4200000000000026
reward: -65.8047126413

time: 58
sim time: 3.4800000000000026
reward: -65.957237304

time: 59
sim time: 3.5400000000000027
reward: -66.1704054871

time: 60
sim time: 3.6000000000000028
reward: -66.3771244889

time: 61
sim time: 3.660000000000003
reward: -66.4435599827

time: 62
sim time: 3.720000000000003
reward: -66.9153829915
avg_episode_reward: -55.4522663385

i_episode: 2



time: 0
sim time: 0.0
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reward: -38.6860353292

time: 38
sim time: 2.2800000000000016
reward: -38.2528457331

time: 39
sim time: 2.3400000000000016
reward: -37.809598558

time: 40
sim time: 2.4000000000000017
reward: -37.3257349751

time: 41
sim time: 2.4600000000000017
reward: -36.8903532665

time: 42
sim time: 2.520000000000002
reward: -36.5037073354

time: 43
sim time: 2.580000000000002
reward: -36.0923526552

time: 44
sim time: 2.640000000000002
reward: -35.6721652386

time: 45
sim time: 2.700000000000002
reward: -35.3358453123

time: 46
sim time: 2.760000000000002
reward: -35.0404035008

time: 47
sim time: 2.820000000000002
reward: -34.7095532254

time: 48
sim time: 2.880000000000002
reward: -34.4221270971

time: 49
sim time: 2.940000000000002
reward: -34.2420112151

time: 50
sim time: 3.000000000000002
reward: -34.0872205931

time: 51
sim time: 3.0600000000000023
reward: -33.8933440092

time: 52
sim time: 3.1200000000000023
reward: -33.7980985996

time: 53
sim time: 3.1800000000000024
reward: -33.8135971176

time: 54
sim time: 3.2400000000000024
reward: -33.8032627905

time: 55
sim time: 3.3000000000000025
reward: -33.7764189483

time: 56
sim time: 3.3600000000000025
reward: -33.8814995789

time: 57
sim time: 3.4200000000000026
reward: -34.0482367191

time: 58
sim time: 3.4800000000000026
reward: -34.1263561703

time: 59
sim time: 3.5400000000000027
reward: -34.2411467595
avg_episode_reward: -40.9309280796

i_episode: 500



time: 0
sim time: 0.0
reward: -45.0506143936

time: 1
sim time: 0.06
reward: -45.1905196055

time: 2
sim time: 0.12000000000000001
reward: -45.3055755724

time: 3
sim time: 0.18
reward: -45.4627888679

time: 4
sim time: 0.23999999999999996
reward: -45.6623857557

time: 5
sim time: 0.3
reward: -45.9021573907

time: 6
sim time: 0.36000000000000004
reward: -46.1331392372

time: 7
sim time: 0.4200000000000001
reward: -46.2824169882

time: 8
sim time: 0.48000000000000015
reward: -46.3966812564

time: 9
sim time: 0.5400000000000001
reward: -46.5307870763

time: 10
sim time: 0.6000000000000002
reward: -46.6292844036

time: 11
sim time: 0.6600000000000003
reward: -46.6513679677

time: 12
sim time: 0.7200000000000003
reward: -46.6672824202

time: 13
sim time: 0.7800000000000004
reward: -46.6961601796

time: 14
sim time: 0.8400000000000004
reward: -46.6616677627

time: 15
sim time: 0.9000000000000005
reward: -46.5706958849

time: 16
sim time: 0.9600000000000005
reward: -46.4987057138

time: 17
sim time: 1.0200000000000005
reward: -46.4148610971

time: 18
sim time: 1.0800000000000005
reward: -46.2549831229

time: 19
sim time: 1.1400000000000006
reward: -46.0732402792

time: 20
sim time: 1.2000000000000006
reward: -45.917203314

time: 21
sim time: 1.2600000000000007
reward: -45.7191277304

time: 22
sim time: 1.3200000000000007
reward: -45.4568200259

time: 23
sim time: 1.3800000000000008
reward: -45.2087709294

time: 24
sim time: 1.4400000000000008
reward: -44.9726249946

time: 25
sim time: 1.5000000000000009
reward: -44.6753225246

time: 26
sim time: 1.560000000000001
reward: -44.3471591989

time: 27
sim time: 1.620000000000001
reward: -44.0539096236

time: 28
sim time: 1.680000000000001
reward: -43.7458059416

time: 29
sim time: 1.740000000000001
reward: -43.3781457497

time: 30
sim time: 1.8000000000000012
reward: -43.0212096757

time: 31
sim time: 1.8600000000000012
reward: -42.6954747434

time: 32
sim time: 1.9200000000000013
reward: -42.331664428

time: 33
sim time: 1.9800000000000013
reward: -41.9325416062

time: 34
sim time: 2.0400000000000014
reward: -41.5742230023

time: 35
sim time: 2.1000000000000014
reward: -41.2250941103

time: 36
sim time: 2.1600000000000015
reward: -40.8288209585

time: 37
sim time: 2.2200000000000015
reward: -40.4370957778

time: 38
sim time: 2.2800000000000016
reward: -40.0903682284

time: 39
sim time: 2.3400000000000016
reward: -39.729288585

time: 40
sim time: 2.4000000000000017
reward: -39.3293219687

time: 41
sim time: 2.4600000000000017
reward: -38.9716781999

time: 42
sim time: 2.520000000000002
reward: -38.6419464581

time: 43
sim time: 2.580000000000002
reward: -38.2839084261

time: 44
sim time: 2.640000000000002
reward: -37.916727026

time: 45
sim time: 2.700000000000002
reward: -37.6079143422

time: 46
sim time: 2.760000000000002
reward: -37.309694982

time: 47
sim time: 2.820000000000002
reward: -36.9784828158

time: 48
sim time: 2.880000000000002
reward: -36.6817500771

time: 49
sim time: 2.940000000000002
reward: -36.4348540082

time: 50
sim time: 3.000000000000002
reward: -36.1893344928

time: 51
sim time: 3.0600000000000023
reward: -35.9190063427

time: 52
sim time: 3.1200000000000023
reward: -35.7145151881

time: 53
sim time: 3.1800000000000024
reward: -35.5437264181

time: 54
sim time: 3.2400000000000024
reward: -35.3596014968

time: 55
sim time: 3.3000000000000025
reward: -35.1833503193

time: 56
sim time: 3.3600000000000025
reward: -35.0739979417

time: 57
sim time: 3.4200000000000026
reward: -34.9870771765

time: 58
sim time: 3.4800000000000026
reward: -34.8705217567

time: 59
sim time: 3.5400000000000027
reward: -34.8046040016

time: 60
sim time: 3.6000000000000028
reward: -34.7871099605

time: 61
sim time: 3.660000000000003
reward: -34.7766608465

time: 62
sim time: 3.720000000000003
reward: -35.5183416197
avg_episode_reward: -41.6073033649

##Plot last-episode trajectory
plt.plot(results['time'], results['x'], label='x')
plt.plot(results['time'], results['y'], label='y')
plt.plot(results['time'], results['z'], label='z')
plt.legend()
_ = plt.ylim()

plt.plot(range(len(avg_episode_rewards)), avg_episode_rewards, label='Avg_Episode_Rewards')
plt.legend()
_ = plt.ylim()

QUESTION: I tried training on a GPU via Floydhub, but the training didn't seem to go any faster than the CPU I've been using here. Is this to be expected?

Reflections

Question 1: Describe the task that you specified in task.py. How did you design the reward function?

Answer: I designed the reward function to land softly. I specified this task originally with the reward function

reward = - alpha(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - beta(abs(self.sim.v[:3] - self.target_vel)).sum()/abs(self.sim.pose[:3] - self.target_pose[:3])).sum()

but then found in training that the reward function was behaving very strangely. I suspected that it might have to do with singular behavior of the reward function when approaching the target position, so modified the reward function to

reward = - alpha(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() - beta(abs(self.sim.v[:3] - self.target_vel)).sum()/(1 + gamma*(abs(self.sim.pose[:3] - self.target_pose[:3])).sum() )

with alpha = .3, beta = .3, gamma = 1. This yielded the desired training behavior.

Question 2: Discuss your agent briefly, using the following questions as a guide:

• What learning algorithm(s) did you try? What worked best for you?
• What was your final choice of hyperparameters (such as $\alpha$, $\gamma$, $\epsilon$, etc.)?
• What neural network architecture did you use (if any)? Specify layers, sizes, activation functions, etc.

Answer:

• I tried a DDPG, which worked for certain parameter values and neural network architectures.
• I chose to remain with the original hyperparameters. Attempted deviations from these, particularly in exploration_theta and exploration_sigma, hurt performance.
• For the actor and critic networks, I tried the following combinations:

1st pair of networks

Actor: states = layers.Input(shape=(self.state_size,), name='states') net = layers.Dense(units=32, activation='relu')(states) net = layers.Dense(units=64, activation='relu')(net) net = layers.Dense(units=32, activation='relu')(net) raw_actions = layers.Dense(units=self.action_size, activation='sigmoid', name='raw_actions')(net)

Critic: states = layers.Input(shape=(self.state_size,), name='states') actions = layers.Input(shape=(self.action_size,), name='actions')

    net_states = layers.Dense(units=32, activation='relu')(states)
    net_states = layers.Dense(units=64, activation='relu')(net_states)

    net_actions = layers.Dense(units=32, activation='relu')(actions)
    net_actions = layers.Dense(units=64, activation='relu')(net_actions)

    net = layers.Add()([net_states, net_actions])
    net = layers.Activation('relu')(net)

    Q_values = layers.Dense(units=1, name='q_values')(net)

2nd pair of networks

Actor: states = layers.Input(shape=(self.state_size,), name='states') net = layers.Dense(units=256, activation='relu')(states) net = layers.BatchNormalization()(net) net = layers.Activation("relu")(net) net = layers.Dense(units=256, activation='relu')(net) net = layers.BatchNormalization()(net) net = layers.Activation("relu")(net) net = layers.Dense(units=128, activation='relu')(net) net = layers.BatchNormalization()(net) net = layers.Activation("relu")(net) net = layers.Dense(units=64, activation='relu')(net) raw_actions = layers.Dense(units=self.action_size, activation='sigmoid', name='raw_actions')(net)

Critic: states = layers.Input(shape=(self.state_size,), name='states') actions = layers.Input(shape=(self.action_size,), name='actions')

    net_states = layers.Dense(units=256, activation='relu')(states)
    net_states = layers.BatchNormalization()(net_states)
    net_states = layers.Activation('relu')(net_states)
    net_states = layers.Dense(units=256, activation='relu')(net_states)
    net_states = layers.BatchNormalization()(net_states)
    net_states = layers.Activation('relu')(net_states)


    net_actions = layers.Dense(units=256, activation='relu')(actions)
    net_actions = layers.BatchNormalization()(net_actions)
    net_actions = layers.Activation('relu')(net_actions)
    net_actions = layers.Dense(units=256, activation='relu')(net_actions)

    net = layers.Add()([net_states, net_actions])
    net = layers.Activation('relu')(net)

    Q_values = layers.Dense(units=1, name='q_values')(net)

Question 3: Using the episode rewards plot, discuss how the agent learned over time.

• Was it an easy task to learn or hard?
• Was there a gradual learning curve, or an aha moment?
• How good was the final performance of the agent? (e.g. mean rewards over the last 10 episodes)

Answer:

• Once the reward function was properly specified, it was not too difficult a task to learn given the initial networks and parameters.
• The learning curve in ATTEMPT 5, which showed best performance, improved very suddenly around episode 260.
• The average episode reward over the last 10 episodes was around -35, which was close to the peak performace of around -31, as compared to the initial average episode reward of around -67.

Question 4: Briefly summarize your experience working on this project. You can use the following prompts for ideas.

• What was the hardest part of the project? (e.g. getting started, plotting, specifying the task, etc.)
• Did you find anything interesting in how the quadcopter or your agent behaved?

Answer:

• Getting started was the hardest part - in particular, converting my abstract theoretical understanding of the algorithms into working code. The task I chose was to land smoothly, and I attempted to specify the reward function so that velocity-dependent terms only contributed when the quadcopter was close to the spatial origin. My original reward function generated strange plots of reward vs training episode, likely due to the singular denominator that diverged when the quadcopter approached the target position (the origin). After changing this reward function to avoid this behavior, I found that the training generally improved the reward. I then attempted make further adjustments to the actor and critic networks by increasing the number of nodes and layers and adding batch normalization; counterintuitively, this appeared to diminish performance somewhat. Increasing the value of sigma associated with OU noise from .2 to .4 completely disrupted the training of the network. Likewise, adjusting the value of theta from .15 to .1 (with the original sigma=.2) also appeared to spoil the training.

• I found it interesting that increasing the complexity of the actor and critic networks didn't appear to do much to improve training, as I expected it would. Also, I did not expect that the adjustments I made to sigma and theta in the OU noise would do so much to disrupt training. In most attempts, the quadcopter's trajectory landed at the desired location, so there was little surprising there. However, further explorations would also plot the velocity and try further adjustments to the reward function.